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European control Conference (ECC)

作者： Nishant Mittal Shreya Shrivastava Viyom Vivek José Ángel Acosta Ravi Banavar Electrical Engg. Dept. IIT Bombay Engg. Phy. Dept. IIT Bombay Systems & Control group IIT Bombay Dept. de Ingeniería de Sistemas y Automática Universidad de Sevilla Spain Systems & Control Engineering group IIT Bombay

The article presents the initial attempts to provide a geometric framework for modelling and control of flexible link robotic manipulators whose end-effector interacts with a compliant surface. The case study presented here restricts itself to planar flexible link manipulators. Ideas from Lie groups and Lie algebras have been employed to derive the forward and inverse kinematic maps, and their associated Jacobian. Finally we employ the geodesic equation to write down the comprehensive dynamical equations of the system. A geometrical interpretation of the Jacobian is presented and a velocity-level control law proposed earlier in literature is recast in the geometric language. Lastly we incorporate Christoffel symbols in the dynamic model of the flexible manipulator highlighting the underlying geometry. Using this framework, an existing velocity based control law is synthesized and simulated. Results demonstrate that the geometric framework yields a smoother and faster error convergence.

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Time-Optimal Trajectory Planning in Highway Scenarios Using Basis-Spline Parameterization

Time-Optimal Trajectory Planning in Highway Scenarios Using ...

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International Conference on Intelligent Transportation

作者： Philip Dorpmüller Thomas Schmitz Naveen Bejagam Torsten Bertram TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany ZF Group Automated Driving and Integral Cognitive Safety Düsseldorf Germany

Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory. Existing motion planners that rely on gradient-based optimization apply time scaling to implement a shrinking planning horizon. They neither guarantee a recursively feasible trajectory nor enable reaching two terminal manifold parts at different time scales. This paper proposes a nonlinear optimization problem that addresses the drawbacks of existing approaches. Therefore, the spline breakpoints are included in the optimization variables. Transformations between spline bases are implemented so a sparse problem formulation is achieved. A strategy for breakpoint removal enables the convergence into a terminal manifold. The evaluation in an overtaking scenario shows the influence of the breakpoint number on the solution quality and the time required for optimization.

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All-Inorganic Electrical Insulation systems for High-Power Density Electrical Machines

All-Inorganic Electrical Insulation Systems for High-Power D...

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IEEE International Conference on Dielectrics (ICD)

作者： Zakhar R. Kudrynskyi Peter H. Connor Timothy P. Cooper Matthew D. Wadge James Kerfoot Xiang Zheng Reda M. Felfel Vladimir V. Korolkov Martin Kubal Christopher Gerada David M. Grant Advanced Materials Research Group Faculty of Engineering University of Nottingham Nottingham UK Power Electronics Machines and Control Research Group Faculty of Engineering University of Nottingham Nottingham UK Park Systems UK Limited Nottingham UK Centre for Device Thermography and Reliability University of Bristol Bristol UK Advanced Composites Group University of Strathclyde Glasgow UK

ISBN: (数字)9798350308976

ISBN: (纸本)9798350308983

This paper introduces the concept of ‘All-Inorganic Electrical Insulation (EI) System’ to enable the next generation of high-power-density electrical machines (EMs) that can operate at extreme conditions, namely high voltages (V) up to 1 kV DC and high temperatures (T) up to 500°C. The feasibility was explored for this concept using experiments and simulations by investigating the inorganic materials adapted to design high-T and high-V EMs. Candidate materials are (i) developed for magnet wire insulation and (ii) selected for a slot filler. In particular, employing physical vapor deposition (PVD), aluminum nitride (AlN) ceramic thin-film coatings were developed on Cu conductors. The experimental results demonstrate very high dielectric breakdown field strength (1 kV/micron for > 90 nm coatings) and thermal conductivity (290 W/m·K at room T (RT), 160 W/m·K at $\mathrm{T} = 300\ ^\circ \mathrm{C}$ ), surpassing existing thin-film insulating materials. Thermal simulations using MotorCAD software compare conventional organic insulation of magnet wires with the AlN coatings. The AlN insulation alone potentially reduces operating T by 6 °C, enhancing EM efficiency. Combining AlN coatings with a selected high thermal conductivity slot filler at 500 °C enables fivefold heat dissipation, boosting potential power density by 50%. These findings demonstrate the potential of all-inorganic EI systems to deliver a step change in high-T EM design for aerospace, traction, and nuclear applications.

关键词： Power system measurements Electric potential Density measurement Conductivity Motors Coatings Wire

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Consistent Event-Triggered Consensus on Complete Graphs

Consistent Event-Triggered Consensus on Complete Graphs

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IEEE Conference on Decision and control

作者： Duarte J. Antunes David Meister Toru Namerikawa Frank Allgöwer W.P.M.H. Heemels Dep. of Mechanical Eng. Eindhoven Control Systems Technology Group University of Technology the Netherlands Institute for Systems Theory and Automatic Control University of Stuttgart Germany School of Integrated Design Engineering Graduate School of Science and Technology Keio University Japan

This paper starts by considering an optimal control formulation of the consensus problem on complete graphs with a cost capturing disagreement and agents modeled by integrators. An optimal control policy for this problem is shown to be the well-known consensus algorithm by which each agent resets its state to the average of its and other agents' state values received at every time step. The framework is extended to the case where agents can only exchange information periodically, with a period larger than one. Then an event-triggered control strategy is proposed that results in a better cost than that of the optimal periodic one with the same average transmission rate, that is, it is consistent. According to this strategy, each agent distributedly transmits its state if the error between its current state and a common consensus estimate based on previously transmitted agents' data exceeds a threshold. Simulation results are presented to illustrate the proposed strategy.

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First-Hand Design of a Fractional order PID for controlling the Depth of Hypnosis during Induction

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IFAC-PapersOnLine 2024年第7期58卷 186-191页

作者： Marcian Mihai Isabela Birs Hegedus Erwin Dana Copot Martine Neckebroek Robain De Keyser Clara M. Ionescu Cristina I. Muresan Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Gent 9052 Belgium Ghent University Hospital Department of Anesthesia C. Heymanslaan 10 9000 Ghent Belgium

The integration of information technology and control engineering has significantly increased in the research field of clinical practice, including the management of medication dosing for general anesthesia. To achieve effective drug dosing, it is necessary to have appropriate controllers for closed loop control methods. A multitude of control mechanisms have been devised to manage hypnosis, with most of them based on pharmacokinetic-pharmacodynamic (PK-PD) models. This study presents a novel structure of a fractional order PID controller tuned for inducing hypnosis. The tuning algorithm uses a novel fractional order model instead of the classical PK-PD models. The main goal is to control the Bispectral Index by delivering Propofol during the hypnotic stage of anesthesia. Closed loop simulation results show that the proposed controller manages to ensure little undershoot and time to target for a nominal patient model. Robustness tests are also performed. The analysis shows that the proposed controller is suitable to maintain BIS signal within a safe operating range but fails to meet the time to target requirement for significant patient variability (greater than 2 orders of magnitude). Online adaptation rules are suggested as a solution.

关键词： drug dosing anesthesia closed loop control of anesthesia fractional-order models for hypnosis fractional order control

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A compact fractional-order model for hypnosis in general anesthesia

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IFAC-PapersOnLine 2024年第12期58卷 55-60页

作者： Marcian Mihai Isabela Birs Hegedus Erwin Dana Copot Robain De Keyser Clara M. Ionescu Cristina I. Muresan Martine Neckebroek Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Gent 9052 Belgium Ghent University Hospital Department of Anesthesia C. Heymanslaan 10 9000 Ghent Belgium

The research field of clinical practice has witnessed a notable increase in the integration of information technology and control systems engineering tools and the paradigm of drug dosing management for general anesthesia is no exception. Progressing from adequate to optimal drug dosing requires suitable models for closed loop control algorithms. High order, complex parameterized models for hypnosis are available but as one cannot measure real drug concentrations, accurate modelling is not possible. Moreover, ethical limitations impose serious restrictions as to the type of excitatory signals acceptable to patient effect response evaluations. This paper proposes an innovative approach to determine fractional order models to compactly represent the dynamics inherent to the hypnosis response. A simplifying assumption is being made: instead of multi-compartmental models, a single transfer model is proposed consisting of a fractional-order dynamic that directly connects Propofol, the administered drug, and the Bispectral (BIS) index, the measure of hypnosis. The proposed model is validated against clinical data and compared to integer order models to prove its suitability. Results suggest the model may be well used with control algorithms for computerized drug dosing management.

关键词： drug dosing anesthesia closed loop control of anesthesia fractional-order impedance hypnosis modelling

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Vibration Mitigation of Hybrid Oscillating Water Column-Floating Offshore Wind Turbine Using ANFIS-Based Airflow control 16th

Vibration Mitigation of Hybrid Oscillating Water Column-Floa...

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16th APCA International Conference on Automatic control and Soft Computing, controlO 2024

作者： M’zoughi, Fares Aboutalebi, Payam Ahmad, Irfan Rouch, Tahereh Bagheri Garrido, Izaskun Garrido, Aitor J. De La Sen, Manuel Automatic Control Group—ACG Institute of Research and Development of Processes—IIDP Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao—EIB/BIE University of the Basque Country—UPV/EHU Po Rafael Moreno no. 3 Bilbao48013 Spain Automatic Control Group—ACG Institute of Research and Development of Processes IIDP Department of Electricity and Electronics Faculty of Science and Technology University of the Basque Country—UPV/EHU Bo Sarriena s/n Leioa48080 Spain

ISBN: (纸本)9783031817236

This paper introduces a novel approach to model and stabilize a Floating Offshore Wind Turbine (FOWT) by employing Oscillating Water Columns (OWC) as an active structural control system. The innovative concept involves designing a new floating barge-like platform with integrated OWCs on opposite sides of the platform to mitigate undesired oscillations of the system. These OWCs counteract the bending forces caused by wind on the tower and waves on the barge platform. To synchronize the opposing forces with the system’s tilting, a proposed Adaptive Neuro-Fuzzy Inference System-based airflow control strategy is employed. Through manipulation of the barge platform’s pitch angle, the ANFIS airflow control system adjusts the valves on either side, opening one and closing the other accordingly. Simulation results, compared with a standard FOWT demonstrate the effectiveness of the ANFIS airflow control. It is shown to be superior in reducing platform pitching and the fore-aft translation of the tower top. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Active Structural control Air Valve Airflow control ANFIS Barge Platform Floating Offshore Wind Turbine Oscillating Water Column

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A fractional order impedance model for heterogeneous drug distribution in obese patients during general anesthesia ⁎

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IFAC-PapersOnLine 2024年第12期58卷 61-66页

作者： Amani R. Ynineb Erhan Yumuk Hamed Farbakhsh Ghada Ben Othman Dana Copot Isabela R. Birs Cristina I. Muresan Robin De Keyser Samir Ladaci Clara M. Ionescu Martine Neckebroek Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde 9052 Belgium Istanbul Technical University Department of Control and Automation Engineering Maslak 34469 Istanbul Turkey Technical University of Cluj Napoca Romania Department of Automation Memorandumului Street 20 Cluj Romania National Polytechnic School Department of Automatics and Control Engineering 10 Rue des Fréres OUDEK El Harrach 16200 Algiers Algeria Ghent University Hospital Department of Anesthesia Corneel Heymanslaan 10 Ghent 9000 Belgium

Personalised pharmacokinetic models imply stepping away from the classical assumption of homogeneous drug mixing in various tissue compartments in the body, with a particular impact on obese patients. In this work, the pharmacokinetic compartmental model structure is revisited to account for non-uniform distribution of uptake/clearance time constants in patients as a nonlinear function of body mass index. Simulations are confirming expected patterns of drug distribution in the body and can account for post-anesthesia side effects up to 72 hours. We apply spectroscopy to extract the complex impedance in fat tissue samples. The data is modelled by a Cole-Cole model, where parameters of the fractional order impedance model are optimized using a genetic algorithm. The findings suggest that fat tissue will exhibit anomalous diffusion when drug uptake and clearance are present.

关键词： fractional order impedance model Cole-Cole model bioimpedance compartmental modelling general anesthesia frequency domain spectroscopy

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Self-Supervised Ego-Motion Estimation Based on Multi-Layer Fusion of RGB and Inferred Depth

arXiv

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arXiv 2022年

作者： Jiang, Zijie Taira, Hajime Miyashita, Naoyuki Okutomi, Masatoshi Dept. of Systems and Control Engineering Tokyo Institute of Technology Japan R&D Group Olympus

In existing self-supervised depth and ego-motion estimation methods, ego-motion estimation is usually limited to only leveraging RGB information. Recently, several methods have been proposed to further improve the accuracy of self-supervised ego-motion estimation by fusing information from other modalities, e.g., depth, acceleration, and angular velocity. However, they rarely focus on how different fusion strategies affect performance. In this paper, we investigate the effect of different fusion strategies for ego-motion estimation and propose a new framework for self-supervised learning of depth and ego-motion estimation, which performs ego-motion estimation by leveraging RGB and inferred depth information in a MultiLayer Fusion manner. As a result, we have achieved state-of-the-art performance among learning-based methods on the KITTI odometry benchmark. Detailed studies on the design choices of leveraging inferred depth information and fusion strategies have also been carried out, which clearly demonstrate the advantages of our proposed framework. Copyright © 2022, The Authors. All rights reserved.

关键词： Benchmarking

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Design of Nonlinear Coupling for Efficient Synchronization in Networks of Nonlinear systems

Design of Nonlinear Coupling for Efficient Synchronization i...

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IEEE Conference on Decision and control

作者： Erik Steur Alexey Pavlov Nathan van de Wouw Department of Mechanical Engineering Dynamics and Control Group Institute for Complex Molecular Systems (ICMS) and Eindhoven Artificial Intelligence Systems Institute (EAISI) Eindhoven University of Technology Eindhoven The Netherlands Department of Geoscience and Petroleum Nor-wegian University of Science and Technology Trondheim Norway Department of Mechanical Engineering Dynamics and Control group and Eindhoven Artificial Intelligence Systems Institute (EAISI) Eindhoven University of Technology Eindhoven The Netherlands Department of Civil Environmental and Geo-Engineering University of Minnesota Minneapolis USA

This paper proposes a design methodology of nonlinear coupling functions for guaranteed network synchronization. Compared to commonly used linear coupling, the proposed nonlinear coupling allows for a significant reduction of coupling energy cost and output noise sensitivity. This is achieved by activating the coupling only where necessary. Using the novel concept of strict incremental feedback passivity with a nonlinear gain, we estimate the magnitude and state-space location of potential incremental instabilities present in the systems' intrinsic dynamics, which could drive systems apart in the absence of coupling. Then we introduce a nonlinear coupling design that provides a gain only in the part of the coupled systems' state-space where the estimated incremental instabilities need to be suppressed. We provide constructive methods to design the nonlinear couplings for guaranteed syn-chronization over any connected, undirected, weighted network. By means of a numerical example, we demonstrate that our nonlinear coupling design, compared to linear couplings, results in significant performance improvements in terms of noise sensitivity and required coupling energy.

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