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Finite-time Convergent Impact Angle Constrained Sliding Mode Guidance ⁎

IFAC-PapersOnLine 2020年第1期53卷 87-92页

作者： Kakoli Majumder Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India

This paper proposes an impact angle constrained guidance strategy based on sliding mode control. The proposed guidance strategy not only ensures the target interception at a desired impact angle but also ensures the alignment of interceptor in a desired impact direction within a predefined-time, whose least upper bound can be pre-fixed. Guidance command is derived using nonlinear engagement dynamics, after transforming the problem of impact angle control to that of tracking a desired line-of-sight angle and its rate. Proposed guidance strategy also guarantees the convergence of the controlled variables within a priori fixed-time, from almost all initial conditions. Due to the nonlinear design framework and choice of the controller, the possible difficulties due to linearizations are avoided and thereby proposed guidance remains applicable even for engagements with large heading errors. Numerical simulations validate the efficacy of the proposed guidance scheme for stationary and constant velocity targets, for different engagement geometries.

关键词： Guidance design sliding mode control impact angle predefined time stability

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Modelling the Evolution of Aerosol Particles from a Radiological Dispersal Device

SSRN

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SSRN 2024年

作者： Bathula, Sreekanth Anand, Srinivasan Mayya, Y.S. Sharma, M.K. Chaudhury, Probal Sapra, Balvinder K. Radiation Safety Systems Division Bhabha Atomic Research Centre Mumbai400085 India Health Physics Division Bhabha Atomic Research Centre Mumbai400085 India Homi Bhabha National Institute Bhabha Atomic Research Centre Mumbai400094 India Department of Chemical Engineering Indian Institute of Technology Bombay Mumbai400076 India Kanpur India

Radiological dispersal devices (RDDs) have a potential to disperse radioactive aerosols into the atmosphere through explosions. Accurately estimating the respirable fraction of these aerosols through experiments presents a considerable challenge. Also, the modeling of aerosol particle evolution stemming from an RDD explosion is inherently complex, involving the interplay of various physical processes operating at different time scales. In this study, we propose a comprehensive numerical model aimed at estimating the respirable fraction of aerosols generated during RDD explosions. Numerical simulations are conducted for diverse experimental scenarios, and the model's performance is assessed by comparing its predictions with experimental data pertaining to Carbon and Cobalt particles. Notably, the model predicts the average particle diameter of Carbon particles within the detonation front of TNT at 13.8 nm, closely matching the experimental observation of 13 nm. Additionally, the model captures the peak value of the cobalt particle mass fraction distribution, approximating it to be around $0.7$ $\mu$m, in agreement with experimental findings. These findings indicate that the proposed model is capable of predicting the behaviour of both radioactive and non-radioactive aerosols. Also, this study underscores the potential of modeling approaches in addressing existing knowledge gaps related to RDDs, thereby contributing to enhanced impact assessment and management strategies for incidents involving RDDs © 2024, The Authors. All rights reserved.

关键词： Numerical models

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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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Optimal questionnaires for screening of strategic agents

arXiv

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arXiv 2020年

作者： Vora, Anuj S. Kulkarni, Ankur A. Systems and Control Engineering Indian Institute of Technology Bombay Mumbai400076 India

[This is a longer version of our conference paper submitted to ICASSP 2021.] During the COVID-19 pandemic the health authorities at airports and train stations try to screen and identify the travellers possibly exposed to the virus. However, many individuals avoid getting tested and hence may misreport their travel history. This is a challenge for the health authorities who wish to ascertain the truly susceptible cases in spite of this strategic misreporting. We investigate the problem of questioning travellers to classify them for further testing when the travellers are strategic or are unwilling to reveal their travel histories. We show there are fundamental limits to how many travel histories the health authorities can *** Codes 91A28, 94D99 Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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Modelling, controllability and Gait Design for a Spherical Flexible Swimmer

arXiv

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arXiv 2020年

作者： Banavar, Ravi N. Kadam, Sudin Natarajan, Vivek Systems and Control Engineering Department Indian Institute of Technology Bombay Mumbai India

— This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swimming mechanism with periodic surface deformations in the radial and azimuthal directions. The model is then converted to a finite dimensional driftless, affine-in-control principal kinematic form by representing the surface deformations as a linear combination of finitely many Legendre polynomials. A controllability analysis is then done for this swimmer to conclude that the swimmer is locally controllable on R3 for certain combinations of the Legendre polynomials. The rates of the coefficients of the polynomials are considered as the control inputs for surface deformation. Finally, the Abelian nature of the structure group of the swimmer’s configuration space is exploited to synthesize a curvature based gait for the spherical flexile swimmer and a rigid-link swimmer. Copyright © 2020, The Authors. All rights reserved.

关键词： Kinematics

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Zero Error Strategic Communication

Zero Error Strategic Communication

引用

International Conference on Signal Processing and Communications, SPCOM

作者： Anuj S. Vora Ankur A. Kulkarni Systems and Control Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781728188959

ISBN: (纸本)9781728188966

We introduce a new setting in information theory where a receiver tries to exactly recover a source signal from a dishonest sender who sends messages with an intention to maximize its utility. The sender can send messages to the receiver over a noiseless channel whose input space is the entire signal space, but due to its dishonesty, not all signals can be recovered. We formulate the problem as a game between the sender and the receiver, where the receiver chooses a strategy such that it can recover the maximum number of source signals. We show that, despite the strategic nature of the sender, the receiver can recover an exponentially large number of signals. We show that this maximum rate of strategic communication is lower bounded by the independence number of a suitably defined graph on the alphabet and upper bounded by the Shannon capacity of this graph. This allows us to exactly characterize the rate of strategic communication for perfect graphs.

关键词： Receivers Games control engineering Electronic mail Information theory Smart grids Intelligent sensors

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control system for a robotic system for rehabilitation of lower limbs with feedback on the patient's effort 2022

Control system for a robotic system for rehabilitation of lo...

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2nd International Conference on Robotics and control engineering, RobCE 2022

作者： Rybak, Larisa Khalapyan, Sergey Rashoyan, Gagik Mohan, Santhakumar Nozdracheva, Anna Research Institute Robotics and Control Systems Bstu Named after V. G. Shukhov Belgorod Russia Stary Oskol Technological Institute N. A. A. A. Ugarov Nust MISiS Stary Oskol Belgorod Russia Mechanical Engineering Research Institute of the Russian Academy of Sciences Moscow Russia Indian Institute of Technology Palakkad Palakkad India Gamaleya National Research Center for Epidemiology and Microbiology Moscow Russia

ISBN: (纸本)9781450395854

The paper presents structural diagrams of the control system of a robotic system with feedback on the patient's effort and without it, illustrates the conditions for using each of them;a method is prepared to increase the reliability of data on the applied efforts, associated with the use of strain gauges in the absence of actions of the patient's motor organs;an example of the patient's motivation to perform "correct"movements, "helping"the mechanism, consisting in changing the speed of movement to form the patient's feeling that the mechanism moves due to his efforts;a mathematical model of the robotic system was obtained, graphs were constructed demonstrating the accuracy of working out a given trajectory due to the anthropometric parameters of the patient. © 2022 ACM.

关键词： Feedback

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Connecting the Unconnecte

Connecting the Unconnecte

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2022 IEEE Future Networks World Forum, FNWF 2022

作者： Dixit, Sudhir Dutta, Ashutosh Agrawal, Sandeep Olivas, Marvin Arias Bhatia, Vimal Carrillo, Carlos Daniel Altamirano Jha, Pranav Jabhera, Matogoro Karna, Amit Khanganba, Sanjram Premjit Kimambo, Catherine Lara-Cueva, Roman Mekuria, Fisseha Mody, Apurva Wasilwa, Nelson Kloza, Brad Borst, Matt Basic Internet Foundation Norway Johns Hopkins University Applied Physics Labs United States C-DoT India National University of Engineering Nicaragua Indian Institute of Technology Indore India Universidad de Las Fuerzas Armadas - Espe Ecuador Indian Institute of Technology Bombay India University of Dodoma Tanzania United Republic of African Childs Project Tanzania United Republic of Universidad de Las Fuerzas Armadas Espe Ecuador South Africa A5 Systems Llc Communications Authority of Kenya Kenya University of Oulu Wireless World Research Forum Finland

ISBN: (纸本)9781665462501

Connecting the Unconnected or under-connected (CTU) is the holy grail of transforming the lives of over 3 billion people around the globe with wireless Internet who are yet to experience its value in multiple ways. If this could be accomplished, its impact on the society would be enormous. This white paper from the IEEE Future Networks CTU Working Group endeavors to highlight the need to consider the CTU requirements in 5G and B5G networks in the standardization process, in the development of the use cases, and affordable solutions. In its Vision 2030 SDG (Sustainability Development Goals) the United Nations has proclaimed access to Internet as basic human right and has said that these goals cannot be achieved without affordable access to Internet by everyone on this planet. While there are numerous projects and initiatives ongoing around the world, these are fragmented and lack the critical mass and coordination to be able to impact the future standards, product development, and cost of deployment otherwise achievable by volume. Although difficult to pin down, to define a threshold for basic connectivity for all is important. But it would need to be flexible to adapt to changing times. It is the goal of the CTU group to create an open platform where the experts can bring their ideas, solutions, and potentially collaborate to create large global projects and influence the network service providers, manufacturers and their governments. This white paper defines the CTU working group's charter, scope, and provides a brief overview of the relevant stakeholders and linkages between them. Then the paper goes into the current status of the CTU landscape and where we want to reach to accomplish the vision of connecting everybody, especially those living in rural and remote areas. We present the various standards and industry fora and how they are interlinked. While technologies are available today, they need to be customized and optimized at the systems level to bring down

关键词： Human computer interaction

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Steady-state to steady-state transfer of PDEs using semi-discretization and flatness

Steady-state to steady-state transfer of PDEs using semi-dis...

引用

IEEE Conference on Decision and control

作者： Soham Chatterjee Vivek Natarajan Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

This paper is about the finite-time steady-state to steady-state transfer of systems governed by boundary controlled 1D heat and beam equations. We address this problem using semi-discretization and flatness. We derive an n th -order semi-discretized system of linear ODEs in time for the PDE system (which is either a heat equation or a beam equation) by approximating the spatial derivatives in the PDE system using Taylor's theorem. We show, under some regularity assumptions on the boundary input f and the initial state, that the state trajectory of the ODE systems converge to the state trajectory of the PDE system that they approximate as the number of discretization steps n goes to infinity. Given a T > 0 and an initial steady-state u 0 at time t = 0 and a final steady-state u T at time t = T for the PDE system, we construct an input f n for the n th -order semi-discrete ODE system to transfer its state from discretized u 0 to discretized u T in time T. This f n is constructed using the flatness approach. We show that the sequence (f n ) n = 1 ∞ converges to a limiting function f as n → ∞ and f is the input that transfers the PDE system from u 0 to u T . We illustrate our results using numerical simulations.

关键词： Steady-state Heating systems Planning Mathematical model Trajectory Heat transfer Handheld computers

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Learning to Speak on Behalf of a Group: Medium Access control for Sending a Shared Message

arXiv

引用

arXiv 2022年

作者： ul Haque, Shaan Chandak, Siddharth Chiariotti, Federico Gündüz, Deniz Popovski, Petar Department of Electrical Engineering Indian Institute of Technology Bombay India Department of Electrical Engineering Stanford University United States Department of Electronic Systems Aalborg University Denmark Department of Electrical and Electronic Engineering Imperial College London United Kingdom

The rapid development of Industrial Internet of Things (IIoT) technologies has not only enabled new applications, but also presented new challenges for reliable communication with limited resources. In this work, we define a deceptively simple novel problem that can arise in these scenarios, in which a set of sensors need to communicate a joint observation. This observation is shared by a random subset of the nodes, which need to propagate it to the rest of the network, but coordination is complex: as signaling constraints require the use of random access schemes over shared channels, each sensor needs to implicitly coordinate with others with the same observation, so that at least one of the transmissions gets through without collisions. Unlike the existing medium access control schemes, the goal here is not to maximize total goodput, but rather to make sure that the shared message gets through, regardless of the sender. The lack of any signaling, aside from an acknowledgment or lack thereof from the rest of the network, makes determining the optimal collective transmission strategy a significant challenge. We analyze this coordination problem theoretically, prove its hardness, and provide low-complexity solutions. While a low-complexity clustering-based approach is shown to provide near-optimal performance in certain special cases, for the general scenarios, we model each sensor as a multi-armed bandit (MAB), and provide a learning-based solution. Numerical results show the effectiveness of this approach in a variety of cases. Copyright © 2022, The Authors. All rights reserved.

关键词： Medium access control

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