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arXiv 2021年

作者： Buriuly, Somnath Vachhani, Leena Sinha, Arpita Ravitharan, Sivapragasam Chauhan, Sunita CoE-OGE IIT Bombay India Systems and Control Engineering IIT Bombay India Department of Mechanical and Aerospace Engineering Monash University Australia Center for Equitable & Personalized Health Plaksha University India

Time-dependent (or temporal) properties may arise in many network-based planning problems, particularly in the routing and scheduling of railway track inspection problems. The availability of tracks depends on the train schedules, maintenance possessions, etc. In the absence of side constraints, this routing and scheduling problem is formulated as a multi-agent rural postman problem on a temporal-directed network;where a given set of rail track sections must be visited while respecting the temporal attributes due to railway track unavailabilities. In this work, we adopt a three-index formulation for the multi-agent Rural Postman Problem with Temporal Recurring Unavailabilities (RPP-TRU) and frame it as a Mixed Integer Linear Programming (MILP) problem. In addition, we propose relevant theoretical studies for RPP-TRU to ensure the feasibility of the proposed optimization problem. Two approaches of an exact algorithm are proposed, based on Benders’ decomposition framework, to address the disjunctive unavailability constraints occurring in its scheduling sub-problems, alongside the NP-Hard routing (master) problem. A polynomial-time algorithm is designed to address the scheduling sub-problem, while the NP-Hard master problem is solved using MILP toolbox. Comparison results with RPP (without temporal constraints) show a minor compromise with the spatial cost solution with significantly less delay, hence suitable for real-world routing and scheduling applications occurring in a shared network like railways. A simulation study on a part of the Mumbai suburban railway network demonstrates the working of the proposed methodology under a realistic setting. © 2021, CC BY.

关键词： Railroads

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Development of Efficient 5-HP BLDC motor for Solar water pump and performance comparison with Induction Motor counterpart

Development of Efficient 5-HP BLDC motor for Solar water pum...

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2021 IEEE India Council International Subsections Conference, INDISCON 2021

作者： Wankhede, Ashok K. Pal, Saumitra Singh, Munendra Gogte, Omkar R. Sharma, Archana Fernandes, B.G. Homi Bhabha National Institute HBNI Anushaktinagar Mumbai India Control Systems Development Division BARC Mumbai Mumbai India Beam Technology Development Group BARC Mumbai Mumbai India Dept of Electrical Engineering IIT Bombay Mumbai India

ISBN: (纸本)9781665438339

Induction motor based, 5 HP Solar water pumps are common in farming application. The solar power available varies from minimum to maximum during the day. It is known that the solar insolation pattern is such that about 60 percent or more power is available for only 50 percent operating duration. For best performance of solar pumping system, the motor must exhibit very good efficiency for wide operating speed range. For 4 pole motor the operating speed range is 1200 to 2850 rpm. Efficiency of 5 HP, 4 pole Induction motor used in cost effective solar water pump is reported as 83 percent maximum at rated condition and drops to 74 percent when speed drops to minimum operating value. Drastic reduction in efficiency limits the pumping capacity and increases the motor temperature. A 5 HP BLDC motor is having efficiency about 92 percent under rated condition and remains above 89 percent for minimum operating speed. This makes BLDC motor attractive option for solar pumping system. A 5 HP, 4 pole BLDC motor is designed and integrated in surface type solar water pump and tested with standard solar panel. Comparative study is conducted with standard Induction motor based solar pump and results are presented. Finally, BLDC solar pump is qualified by testing at Government accredited laboratory. © 2021 IEEE

关键词： Induction motors

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Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot 2019

Real-time depth estimation using camera and IMU on the unsta...

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Proceedings of the Advances in Robotics 2019

作者： Adwaith Vijayakumar Leena Vachhani Abhishek Gupta IDP in Systems and Control Engineering IIT Bombay Department of Mechanical Engineering IIT Bombay

ISBN: (纸本)9781450366502

Vision based robot navigation relies on the image sequences that are captured by the camera attached to its platform. In many robotic applications such as in case of spherical robots used for surveillance, the platform on which the camera resides is often unsteady and unwanted relative motion exists between camera and scene. This unwanted relative motion in case of a spherical robot is due to the pitching motion associated with its platform called yoke. A depth estimation algorithm that handles the effect of pitching using non-linear observer approach is proposed. The object in the scene whose depth is to be estimated is detected as features in the acquired images and are tracked by using concepts of optical flow. A discrete time state space model that fuses the information from camera and IMU data attached to the unsteady platform of spherical robot is derived. Extended Kalman filter (EKF) is used as the non-linear estimation technique for extraction of depth information from the proposed state space model. The convergence aspects of the extended Kalman filter when used as a deterministic observer for the proposed non-linear discrete-time model is analyzed with local observability and it is shown that there is boundedness of error covariance between the observed and actual depth. It is shown that the estimation error converges to zero irrespective of the initialization provided to the observer.

关键词： spherical robot vision-inertial data integration Monocular depth estimation

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Real-time depth estimation using camera and IMU on the unstabilized platform of a spherical robot

Real-time depth estimation using camera and IMU on the unsta...

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2019 Conference on Advances in Robotics, AIR 2019

作者： Vijayakumar, Adwaith Vachhani, Leena Gupta, Abhishek IDP in Systems and Control Engineering IIT Bombay India Department of Mechanical Engineering IIT Bombay India

ISBN: (纸本)9781450366502

关键词： Cameras

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Experimental Evaluation of Internal Model control for 3ϕ Grid-tied Solar PV Inverter

Experimental Evaluation of Internal Model Control for 3ϕ Gr...

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Power Electronics & IoT Applications in Renewable Energy and its control (PARC), 2020 International Conference on

作者： Soumya Ranjan Mohapatra Palakurla Sekhar Vivek Agarwal Sachin C Patwardhan Department of electrical engineering IIT Bombay Mumbai India Department of Systems and Control engineering IIT Bombay Mumbai India Department of Chemical engineering IIT Bombay Mumbai India

ISBN: (数字)9781728165752

ISBN: (纸本)9781728165769

The control performance of the 3-phase grid inverter decides the quality and quantity of power transfer from solar panels to the utility grid. Therefore, performance enhancement of control techniques of grid-tied photovoltaic system has practical significance. The objective of this work is to enhance servo control of the grid-tied PV system using a multi-variable internal model control (IMC) technique. The design guidelines of IMC for the grid-tied photovoltaic system is clearly presented. The filter model of the voltage source inverter is employed to design the IMC. Experimental results are demonstrated for two conditions. In one of the conditions, cascaded control of DC-link capacitor voltage and grid current has been carried out. The current reference for the IMC is generated from the PI controller which controls the capacitor voltage. Maximum power of the PV is tracked by generating suitable reference voltage for the DC-link voltage control. In the other condition, only IMC performance is verified assuming constant DC source. The experimental setup is explained in detail and concluding remarks are presented.

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Robust discrete-time pontryagin maximum principle on matrix lie groups

arXiv

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arXiv 2020年

作者： Joshi, Anant A. Chatterjee, Debasish Banavar, Ravi N. Department of Systems and Control Engineering IIT Bombay Powai Mumbai400076 India

This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal control wherein the disturbance is the adversary and tries to maximise a cost that the control tries to minimise. Assuming the existence of a saddle point in the problem, we present a version of the Pontryagin maximum principle (PMP) that encapsulates first-order necessary conditions that the optimal control and disturbance trajectories must satisfy. This PMP features a saddle point condition on the Hamiltonian and a set of backward difference equations for the adjoint dynamics. We also present a special case of our result on Euclidean spaces. We conclude with applying the PMP to robust version of single axis rotation of a rigid body. Copyright © 2020, The Authors. All rights reserved.

关键词： Maximum principle

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Formation control using optimal time multiplexing

Formation control using optimal time multiplexing

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IEEE Conference on Decision and control

作者： Harsh Oza Ravi Banavar Sukumar Srikant I.C. Morărescu Systems Control Engineering IIT Bombay Powai Mumbai India CNRS CRAN Universite de Lorraine Nancy France

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Lack of availability of adequate bandwidth for simultaneous communication between a large number of agents and the central processing unit motivates us to study a multi-agent system employing time multiplexed control. Achieving a formation under such time-multiplexing constraints is posed as a discrete constrained optimal control problem. Employing the discrete Pontryagin Maximum Principle (DMP) we obtain first order necessary conditions to be satisfied by an optimal control law, which tackles both problems of formation control and time multiplexing simultaneously. The information structure of relative states is embedded into the problem using a graph theoretic framework. The necessary conditions appear in the form of a two-point boundary value problem and this is solved using a multiple shooting method. The results are then validated through numerical experiments for various cases.

关键词： Multiplexing Optimal control Trajectory Time factors Optimal scheduling Directed graphs Central Processing Unit

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State-space Realization of Linear Time-invariant systems with Maximum Measure of Quality

State-space Realization of Linear Time-invariant Systems wit...

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Asian control Conference

作者： Mohammed Rayyan Sheriff Masaaki Nagahara Systems and Control Engineering IIT Bombay India

ISBN: (纸本)9781728102634

In this paper, we give a state-space realization that maximizes the measure of quality (MoQ). MoQ of a system is a performance index that determines how easily the system can be controlled, while the standard notion of reachability/controllability just gives a binary information, e.g. reachable or unreachable. In this paper, we formulate the realization problem as maximization of the MoQ by a coordinate transformation matrix. We show that the optimal coordinate transformation is given in a closed form. The proposed method is effective in particular for preconditioning of an ill-conditioned grammian, the inverse of which is used to solve the reachability problem. We show a numerical example to illustrate this merit of the proposed method.

关键词： Observability Symmetric matrices Linear systems Optimal control Optimization Aerospace electronics

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Commercial-off-the-shelf (COTS) solution for Robot Sensing and control

Commercial-off-the-shelf (COTS) solution for Robot Sensing a...

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control Conference (ICC), 2019 Sixth Indian

作者： Vivek Yogi Leena Vachhani Systems and Control Engineering IIT Bombay India

ISBN: (数字)9781728138602

ISBN: (纸本)9781728138619

In this work we investigate the possibility of using an Android smartphone as the standalone sensor pack cum processor for a mobile robot. In addition to sensors and processing ability the smartphone has various communication infrastructure and a modern operating system. We also discuss the architecture of minimal hardware ground mobile robot using android smartphone and the approaches to robot software development using android smartphone as primary controller. A discussion of existing libraries and tools that can be leveraged to enable quick development is discussed. A trajectory tracking experiment is presented to demonstrate the working of the presented architecture.

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Measure of quality of finite-dimensional linear systems: A frame-theoretic view

arXiv

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arXiv 2019年

作者： Pk, Mishal Assif Sheriff, Mohammed Rayyan Chatterjee, Debasish Department of Mechanical Engineering IIT Bombay Powai Mumbai400076 India Systems and Control Engineering IIT Bombay Powai Mumbai400076 India

A measure of quality of a control system is a quantitative extension of the classical binary notion of controllability. In this article we study the quality of linear control systems from a frame-theoretic perspective. We demonstrate that all LTI systems naturally generate a frame on their state space, and that three standard measures of quality involving the trace, minimum eigenvalue, and the determinant of the controllability Gramian achieve their optimum values when this generated frame is tight. Motivated by this, and in view of some recent developments in frame-theoretic signal processing, we propose a natural measure of quality for continuous time LTI systems based on a measure of tightness of the frame generated by it and then discuss some properties of this frame-theoretic measure of quality. Copyright © 2019, The Authors. All rights reserved.

关键词： Linear control systems

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