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arXiv 2018年

作者： Sinhmar, Himani Srikant, Sukumar Department of Aerospace Engineering Indian Institute of Technology Bombay India Systems and Control Engineering Indian Institute of Technology Bombay India

This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics of the spacecraft is expressed in Euler-Lagrangian form. We propose a novel distributed, model independent control law for synchronization of networked Euler Lagrange system with biased measurements. An adaptive control law is derived based on Lyapunov analysis to estimate the bias. The proposed algorithm ensures that the velocities converge to that of leader exponentially while the positions converge to a bounded neighborhood of the leader positions. We have assumed a connected leader-follower network of spacecraft. Simulation results on a six spacecraft formation corroborate our theoretical findings. Copyright © 2018, The Authors. All rights reserved.

关键词： Spacecraft

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A geometric method for passivation and cooperative control of equilibrium-independent passive-short systems

arXiv

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arXiv 2019年

作者： Sharf, Miel Jain, Anoop Zelazo, Daniel The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden The Department of Electrical Engineering Indian Institute of Technology Jodhpur India The Faculty of Aerospace Engineering Israel Institute of Technology Haifa Israel

Equilibrium-independent passive-short (EIPS) systems are a class of systems that satisfy a passivity-like dissipation inequality with respect to any forced equilibria with non-positive passivity indices. This paper presents a geometric approach for finding a passivizing transformation for such systems, relying on their steady-state input-output relation and the notion of projective quadratic inequalities (PQIs). We show that PQIs arise naturally from passivity-shortage characteristics of an EIPS system, and the set of their solutions can be explicitly expressed. We leverage this connection to build an input-output mapping that transforms the steady-state input-output relation to a monotone relation, and show that the same mapping passivizes the EIPS system. We show that the proposed transformation can be implemented through a combination of feedback, feed-through, post- and pre-multiplication gains. Furthermore, we consider an application of the presented passivation scheme for the analysis of networks comprised of EIPS systems. Numerous examples are provided to illustrate the theoretical findings. Copyright © 2019, The Authors. All rights reserved.

关键词： Passivation

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A lagrangian model to predict microscallop motion in non Newtonian fluids

arXiv

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arXiv 2018年

作者： Murthy, Yashaswini Banavar, Ravi Department of Mechanical Engineering Indian Institute of Technology Bombay India Department of Systems and Control Engineering Indian Institute of Technology Bombay India

The need to develop models to predict the motion of microrobots, or robots of a much smaller scale, moving in fluids in a low Reynolds number regime, and in particular, in non Newtonian fluids, cannot be understated. The article develops a Lagrangian based model for one such mechanism - a two-link mechanism termed a microscallop, moving in a low Reynolds number environment in a non Newtonian fluid. The modelling proceeds through the conventional Lagrangian construction for a two-link mechanism and then goes on to model the external fluid forces using empirically based models for viscosity to complete the dynamic model. The derived model is then simulated for different initial conditions and key parameters of the non Newtonian fluid, and the results are corroborated with a few existing experimental results on a similar mechanism under identical conditions. Lastly, with a view to implementing control algorithms we explore accessibility of the system at certain configurations. Copyright © 2018, The Authors. All rights reserved.

关键词： Non Newtonian liquids

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On Stability of Event-Triggered systems with Sliding Mode control 15

On Stability of Event-Triggered Systems with Sliding Mode Co...

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15th International Workshop on Variable Structure systems, VSS 2018

作者： Behera, Abhisek K. Bandyopadhyay, Bijnan Department of Electrical and Computer Engineering Seoul National University ASRI Seoul08826 Korea Republic of Indian Institute of Technology Bombay Interdisciplinary Program in Systems and Control Engineering Mumbai400 076 India

ISBN: (纸本)9781538664391

In this paper, we investigate the stability of a controlled system in the event-triggering framework. By designing the triggering scheme, the control signals are updated when it is demanded subject to some satisfactory system performance. However, the stability of the system is not yet fully investigated with respect to the triggering conditions. So, the main purpose of the paper is to analyse the stability of the system with respect to the proposed triggering scheme. In this paper, sliding mode control (SMC) is used to design the event-triggered control. Our analysis proposes a new notion called bounded event property for the event which guarantees the triggering instants are generated in finite-time for all possible values of the triggering parameter. It is shown that the event-triggered SMC ensures possess the bounded event property and moreover the proposed triggering mechanism also guarantees the stability of the closed loop system stability. © 2018 IEEE.

关键词： Sliding mode control

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New Finite Blocklength Converses for Asymmetric Multiple Access Channels via Linear Programming

New Finite Blocklength Converses for Asymmetric Multiple Acc...

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International Conference on Signal Processing and Communications, SPCOM

作者： Sharu Theresa Jose Ankur A. Kulkarni Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9781538638224

This paper presents a systematic method to synthesize new finite blocklength converses for the channel coding of asymmetric multiple access channels (A-MAC) from point-to-point converses, by employing the linear programming (LP) based framework in [1]. A direct synthesis yields a converse that extends the Polyanskiy-Poor-Verdú metaconverse to A-MAC. Employing a more sophisticated non-linear synthesis, we derive a new, code-independent converse that is asymptotically tight.

关键词： Channel coding Linear programming Optimization Systematics Probability distribution control engineering

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Computer-aided diagnosis for Diabetic Retinopathy based on Firefly algorithm

Computer-aided diagnosis for Diabetic Retinopathy based on F...

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International Conference on Advanced Computing, ICAC

作者： B. Keerthiveena T. Veerakumar S. Esakkirajan Badri Narayan Subudhi Department of Instrumentation and Control Systems Engineering PSG College of Technology Coimbatore India Department of Electronics and Communication Engineering National Institute of Technology Goa India Department of Electrical Engineering Indian Institute of Technology Jammu India

ISBN: (数字)9781728152868

ISBN: (纸本)9781728152875

Diabetic retinopathy is a diabetes complication that has been a leading cause of blindness worldwide. Segmentation of blood vessels and detection of exudates in fundus images through an automated system will help the ophthalmologist to provide a proper treatment that may cure or decrease the severity of the retinal diseases. Realizing its significance, a diabetic retinopathy screening system was proposed in this paper which classifies normal from the abnormal fundus image. Segmentation of blood vessel is based on match filter followed by fuzzy c-means clustering. The small and thin vessels were obtained from directional filter bank by incorporating the use of line-like directional features. In this study a combination of both statistical and geometric features were extracted from image regions. A firefly algorithm for discriminative feature selection for the early detection of diabetic retinopathy was proposed. Publically available dataset such as DRIVE, HRF, DIAREDB1, MESSIDOR and one local dataset are used to validate the suggested system. Moreover, the proposed algorithm has been compared with few state-of-the-art techniques such as particle swarm optimization, genetic algorithm and ant colony optimization. The results demonstrated that the proposed method improves the classification accuracy with a minimized feature set for the early detection of diabetic retinopathy.

关键词： Diabetes Blood vessels Biomedical imaging Retinopathy Feature extraction Retina Filter banks

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Distributed adaptive coverage control of differential drive robotic sensors

arXiv

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arXiv 2019年

作者： Razak, Rihab Abdul Sukumar, Srikant Chung, Hoam IITB-Monash Research Academy Dept. of Systems and Control Engg. Indian Institute of Technology Bombay Dept. of Mechanical and Aerospace Engg. Monash University

This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the coverage problem as an optimization problem over some space of functions on Q. In particular, we look at L2-distance based coverage algorithm and derive adaptive control laws for the same. We also propose a modified adaptive control law incorporating consensus for better parameter convergence. We implement the algorithms on real differential drive robots with both simulated density function as well as density function implemented using light sources. We also compare the L2-distance based method with the locational optimization method using experiments. Copyright © 2019, The Authors. All rights reserved.

关键词： Adaptive control systems

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Platform Competition for Throughput in Two-sided Freelance Markets

Platform Competition for Throughput in Two-sided Freelance M...

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International Conference on Signal Processing and Communications, SPCOM

作者： Mansi Sood Ankur A. Kulkarni Sharayu Moharir Department of Electrical Engineering Indian Institute of Technology Bombay Mumbai India Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9781538638224

We address the problem of price competition between platforms that facilitate the immediate exchange of services between freelance workers and customers in two-sided markets. We consider two competing platforms that offer identical services to their customers at potentially different prices. The objective of each platform is to maximize its throughput by suitably pricing its services. We assume that customers have a preference or loyalty to the platforms while the workers freelance for the two platforms. Assuming that the resulting interaction between the users is such that their aggregate utility is maximized, we show that for each value of the loyalty, there exists a pure strategy Nash equilibrium and characterize it.

关键词： Throughput Resource management Pricing Aggregates Optimization Games Nash equilibrium

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Enhancing the Torque Density of Conventional PM-SynRel Machine with Hybrid Flux Barrier 45

Enhancing the Torque Density of Conventional PM-SynRel Machi...

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45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019

作者： Kumar, R. M. Ram Fernandes, B.G. Vakil, Gaurang Gerada, David Walker, Adam Rocca, Salvatore La Al-Ani, Mahir Gerada, Chris Paciura, Krzysztof McQueen, Alastair Indian Institute of Technology - Bombay Department of Electrical Engineering Powai Mumbai400076 India Ningbo 315000 China Power Electronics Machines and Control Group University of Nottingham NottinghamNG7 2RD United Kingdom Cummins Corporate RT PeterboroughPE2 6FZ United Kingdom

ISBN: (纸本)9781728148786

Electrical machines with high torque density are required for traction application. Availability of bonded magnets with complex shapes and magnetization pattern can significantly extend the design space of electrical machines. This paper introduces a hybrid flux barriers design to improve the torque density of permanent magnet assisted synchronous reluctance (PM -SynRel) machine using ferrite magnets. The torque density with hybrid flux barriers is found to improve along the entire range of speed compared to the conventional flux barriers. The hybrid barrier design achieves similar performance to that of curved barrier with relatively flat shaped magnets in the last flux barrier. Thus, the hybrid barrier is able to enhance the torque density at a potentially reduced cost of manufacturing. The hybrid flux barrier design is validated for both electromagnetic and mechanical performance using commercial finite element analysis (FEA) packages. © 2019 IEEE.

关键词： Ferrite

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High Power High Speed PM-Assisted SynRel Machines with Ferrite and Rare Earth Magnets for Future Electric Commercial Vehicles 45

High Power High Speed PM-Assisted SynRel Machines with Ferri...

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45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019

作者： Kumar, R. M. Ram Fernandes, B.G. Zou, Tianjie Rocca, Antonino La Vakil, Gaurang Gerada, David Walker, Adam Gerada, Chris Paciura, Krzysztof McQueen, Alastair Power Electronics Machines and Control Group University of Nottingham NottinghamNG7 2RD United Kingdom Ningbo 315000 China Cummins Corporate R and T PeterboroughPE2 6FZ United Kingdom Department of Electrical Engineering Indian Institute of Technology - Bombay Powai Mumbai400076 India

ISBN: (纸本)9781728148786

High power density and high torque density are the fundamental requirements for electric machines used in traction application. The former is obtained by potentially increasing the speed of the machine while the latter by using high energy density rare earth magnets. Ferrite magnets are explored as a viable alternative to rare earth magnets which are relatively expensive and geographically concentrated. The paper is intended to bring out the current trend of electric machines used in electric vehicles (EVs) with due focus on permanent magnet assisted synchronous reluctance (PM-SynRel) machine. High power and high speed PM-SynRel machine with rare earth and ferrite magnets are designed and compared based on the requirements for a future electric commercial vehicles. The ratio of stack length, mass of magnet, total mass and inertia of rare earth machine in comparison to ferrite PM-SynRel is found to be 0.72, 0.42, 0.72 and 0.32, respectively. Based on these, the rare earth based machine is found to have high power density, torque density and also utilizes lesser volume of magnets but PM-SynRel with ferrite is getting closer. © 2019 IEEE.

关键词： Ferrite

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