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71st International Astronautical Congress, IAC 2020

作者： Muhire, Desire Stepanova, Daria Santra, Shreya Baranwal, Prerna Romero, Marco Amrutkar, Rushanka Bonnart, Sébastien Jha, Devanshu Zucherman, Aaron Small Satellites Project Group Space Generation Advisory Council Schwarzenbergplatz 6 Vienna1030 Austria Department of Physics Chouaib Doukkali University Avenue des Facultés El Jadida24000 Morocco German Orbital Systems GmbH Berlin Germany Aerospace Engineering Tohoku University Sendai Japan Birla Institute of Technology and Science Pilani India Institut Supérieur de l'Aéronautique et de l'Espace Toulouse France Indian Institute of Technology Bombay India Space Generation Advisory Council France MVJ College of Engineering Bangalore Karnataka India Cornell University IthacaNY14850 United States

Small satellite is part of a growing industry that caters to commercial, scientific and defense applications. Multiple launches and power constraints of small satellites require cost-effective and stable communication links. Free-space laser communication (LaserCom) is a promising candidate offering a high-speed broadband network, with a less energy consuming and compact subsystem. Unlike radio frequency (RF), LaserCom alleviates the licensing problems of RF spectrum regulation. Despite recognizable popularity, little research on LaserCom for small satellites has been conducted on a comprehensive scale. This review discusses the current improvements in laser communication for small satellites. It examines innovative approaches in on-board Photonics for pointing strategies in atmospheric disturbances and vibrations mitigations. Due to the infeasibility of in-orbit maintenance, the crucial role of the multidisciplinary optimization of requirements for flexible and agile LaserCom systems is addressed. Copyright © 2020 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Cost effectiveness

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Discrete-time Maximum Hands-Off control with Minimum Switches

Discrete-time Maximum Hands-Off Control with Minimum Switche...

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IEEE Annual Conference on Decision and control

作者： Masako Kishida Masaaki Nagahara Debasish Chatterjee Principles of Informatics Research Division National Institute of Informatics Tokyo Japan Institute of Environmental Science and Technology The University of Kitakyushu Fukuoka Japan Systems & Control Engineering Indian Institute of Technology Bombay Maharashtra India

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Maximum hands-off control provides energy-saving bang-off-bang control signals. However, it does not restrict the number of changes in the control signal. As the use of a control signal that has fewer adjustments is often preferred, this paper considers the problem of maximum hands-off control with minimum switches. For the class of discrete-time nonlinear control-affine systems, the problem is formulated as a sparse optimization based on the l~0 norm, then relaxed to l~1 norm optimization. For the special case of linear single-input single-output systems, some properties of l 0 optimization and its l~1 relaxation are discussed and we present an efficient numerical algorithm to solve l~1 relaxation based on the proximal splitting method. A numerical example illustrates that the proposed formulation effectively reduces the number of switches.

关键词： Cost function Trajectory Actuators Optimal control Informatics

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Scalar field estimation with mobile sensor networks

arXiv

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arXiv 2019年

作者： Razak, Rihab Abdul Sukumar, Srikant Chung, Hoam IITB-Monash Research Academy Mumbai India Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Mechanical and Aerospace Engineering Monash University ClaytonVIC Australia

In this paper, we consider the problem of estimating a scalar field using a network of mobile sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistencelike conditions. Copyright © 2019, The Authors. All rights reserved.

关键词： Adaptive control systems

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Estimating Scalar Fields with Mobile Sensor Networks

Estimating Scalar Fields with Mobile Sensor Networks

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control Conference (ICC), 2019 Sixth indian

作者： Rihab Abdul Razak Srikant Sukumar Hoam Chung IITB-Monash Research Academy Mumbai India Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Mechanical and Aerospace Engineering Monash University Clayton VIC Australia

ISBN: (数字)9781728138602

ISBN: (纸本)9781728138619

In this paper, we consider the problem of estimating a scalar field using mobile sensor networks equipped with sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistence-like conditions.

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The BRICSplus Network: A Historical Overview and Future Perspectives of the Network’s Role in Human Factors and Ergonomics 20th

The BRICSplus Network: A Historical Overview and Future Pers...

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20th Congress of the International Ergonomics Association, IEA 2018

作者： Davy, Jonathan Gomes, Jose Orlando Volosiuk, Aleksandr Jana, Arnab Ray, Gaur Ganguli, Anindya Kumar Zhang, Wei Todd, Andrew Department of Human Kinetics and Ergonomics Rhodes University Grahamstown South Africa School of Engineering Federal University of Rio de Janeiro Rio de Janeiro Brazil Department of Information Systems St. Petersburg Electrotechnical University Saint Petersburg Russia Centre for Urban Science and Engineering Indian Institute of Technology Bombay Mumbai India Department of Biosciences and Bioengineering Indian Institute of Technology Bombay Mumbai India Faculty in Ergonomics RamMohan College University of Calcutta Kolkata India Department of Industrial Engineering Tsinghua University Beijing China

ISBN: (纸本)9783319960791

In December 2016, at Tsinghua University in Beijing China, the first meeting of the newly constituted BRICSplus Network of Brazilian, Russian, indian, Chinese and South African Ergonomics societies was held. The Network was created to promote and develop ergonomics in BRICS countries, collaboratively represent the BRICS countries at the level of the IEA and ensure that professional standards of ergonomics, in teaching, research and practice, are maintained. This paper offers a short overview of the history of each BRICS country’s ergonomics society, in which we highlight the impact of key individuals, events and milestones on the development of ergonomics in the respective countires. We then provide an overview of the current challenges faced by BRICS countries, with respect to the dissemination of ergonomics, which is proceeded by a snapshot of how the intended activities of the network will address these. We conclude by emphasizing how the BRICSplus network has the potential to create globalized ergonomics graduates, educators and researchers, who will continue to foster the advancement of ergonomics in their countries and more globally. © 2019, Springer Nature Switzerland AG.

关键词： Ergonomics

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Output FeedbackBasedEvent-Triggered SlidingModecontrol for DeltaOperator systems∗

arXiv

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arXiv 2019年

作者： Kumari, Kiran Bandyopadhyay, Bijnan Kim, Kyung-Soo Shim, Hyungbo Systems and Control Engineering Indian Institute of Technology Bombay Department of Mechanical Engineering Kaist Daejeon305-701 Asri Department of Electrical and Computer Engineering Seoul National University Seoul Korea Republic of

In this paper, we present an output feedback based design of event-Triggered sliding mode control for delta operator systems. For discretetime systems, multi-rate output sampling based state estimation technique is very useful if the output information is available. But at high sampling rates, the discrete-Time representation of the system using shift operator becomes numerically ill-conditioned and as a result, the observability matrix becomes singular as the sampling period tends to zero. Here, a new formulation of multi-rate state estimation (MRSE) for a small sampling period is presented. We first propose a new observability matrix and then discuss its relationship with the observability matrix defined in the conventional sense. For the delta operator system with matched uncertainty, we have presented the design of MRSE based sliding mode control (SMC). Additionally, to make the control efficient in terms of resource utilization, MRSE based event-Triggered SMC is proposed. The absence of Zeno phenomenon is guaranteed as the control input is inherently discrete in nature. Finally, the effectiveness of the proposed method is illustrated through numerical simulations, considering a ball and beam system and a general linear system as a numerical example. Copyright © 2019, The Authors. All rights reserved.

关键词： State estimation

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control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling

Control Synthesis for an Underactuated Cable Suspended Syste...

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American control Conference

作者： Siddharth H. Nair Ravi N. Banavar D.H.S Maithripala University of California Berkeley USA Faculty of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India Faculty of Mechanical Engineering University of Peradeniya KY 20400 Sri Lanka

ISBN: (纸本)9781538679012;9781538679265

This article studies the dynamics and control of a novel underactuated system: a ball and plate system suspended by a team of quadrotors via cables. The plate is sought to be horizontally stabilized at a certain height, with the ball stabilized at the center of mass of the plate. The freely moving ball adds 2 degrees of underactuation to the system. The design proceeds through a decoupling of the quadrotors and the plate dynamics. Through a partial feedback linearization approach, the attitude of the plate and the translational height of the plate is initially controlled, while maintaining a bounded velocity along the y and x directions. These inputs are then synthesized through the quadrotors with a backstepping and timescale separation argument based on Tikhonov's theorem.

关键词： DECOUPLING cable Ball Device Component Suspended Backstepping Standing Orders dynamics

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Geometric Pattern Formation with Coordinated Double-Integrator Agents

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IFAC-PapersOnLine 2018年第22期51卷 172-177页

作者： M, Jerome Moses Sinha, Arpita Chung, Hoam IITB Monash Research Academy Powai Mumbai400 076 India Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai400 076 India Department of Mechanical and Aerospace Engineering Monash University Clayton Campus VIC 3800 Australia

This paper deals with the problem of geometric pattern formation by a group of mobile autonomous agents. The patterns are formed by the trajectories of the agents modeled with double integrator dynamics. The patterns can either be closed or can cover the entire space. We build upon an existing consensus law, by introducing self position feedback and study the collective motion of a team of agents. The patterns are not only aesthetically appealing but can also be used in civilian applications like search, exploration and surveillance. There is no restriction on the underlying graph topology. The control law manipulates the location of the eigenvalues of the overall system to achieve the pattern. We present simulation results to validate the developed theory. © 2018

关键词： Autonomous agents Eigenvalues and eigenfunctions Mobile agents Multi agent systems Topology Co operative control Collective motions Double integrator dynamics Formation control Geometric patterns Mobile autonomous agents Pattern formation Position feedback

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Hybrid Magnet Configuration to Reduce the Content of Rare Earth Elements in a PM-SynRel Machine

Hybrid Magnet Configuration to Reduce the Content of Rare Ea...

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IEEE Transportation Electrification Conference and Expo (ITEC)

作者： R. M. Ram Kumar Gaurang Vakil David Gerada Chris Gerada Krzysztof Paciura B. G. Fernandes Liang Yan Power Electronics Machines and Control Group University of Nottingham Nottingham U.K Cummins Corporate R&T Peterborough U.K Department of Electrical Engineering Indian Institute of Technology - Bombay Powai Mumbai India School of Automation science and Electrical Engineering Beihang University Beijing China

ISBN: (数字)9781728146294

ISBN: (纸本)9781728146300

An electric drive with reduced content of rare earth magnets is sought after by the manufacturers of electric vehicles (EVs). A ferrite based permanent magnet assisted synchronous reluctance (PM-SynRel) machine has emerged as a viable alternative to curtail the dependence on NdFeB PM. However, inadequate torque density and demagnetization withstand capability of these machines prevent them from being used in EVs. This paper aims at identifying topologies of PM-SynRel machine which exhibits adequate torque density and demagnetization withstand capability with reduced rare earth content. Tandem arrangement of NdFeB and ferrite PMs in the flux barriers reduces rare earth content and improves demagnetization withstand capability without a significant change in output torque. Based on this, NdFeB-Ferrite-NdFeB (NFN) and FNN topologies of PM-SynRel machine are deduced as favourable choices for the EV sector. Finally, a multiphysics optimization is implemented to ascertain the performance of both NFN and FNN topologies.

关键词： Torque Ferrites Optimization Rotors Demagnetization Benchmark testing

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A bundle framework for observer design on smooth manifolds with symmetry

arXiv

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arXiv 2019年

作者： Joshi, Anant A. Maithripala, D.H.S. Banavar, Ravi N. Department of Mechanical Engineering Indian Institute of Technology Bombay Maharashtra Mumbai400069 India Department of Mechanical Engineering University of Peradeniya KY20400 Sri Lanka School of Postgraduate Studies Sri Lanka Technological Campus PadukkaCO 10500 Sri Lanka Department of Systems and Control Engineering Indian Institute of Technology Bombay Maharashtra Mumbai400069 India

The article presents a bundle framework for nonlinear observer design on a manifold with a a Lie group action. The group action on the manifold decomposes the manifold to a quotient structure and an orbit space, and the problem of observer design for the entire system gets decomposed to a design over the orbit (the group space) and a design over the quotient space. The emphasis throughout the article is on presenting an overarching geometric structure;the special case when the group action is free is given special emphasis. Gradient based observer design on a Lie group is given explicit attention. The concepts developed are illustrated by applying them on well known examples, which include the action of SO(3) on R3 \ {0} and the simultaneous localisation and mapping (SLAM) problem. © 2019, CC BY.

关键词： Lie groups

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