检索结果-内蒙古大学图书馆

arXiv 2022年

作者： Laidig, Daniel Seel, Thomas Control Systems Group Technische Universität Berlin Berlin10623 Germany Department Artificial Intelligence in Biomedical Engineering Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen91052 Germany

The miniaturization of MEMS-based inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. The fundamental sensor fusion task of orientation estimation is a prerequisite for most further data processing steps in inertial motion tracking, such as position and velocity estimation, joint angle estimation, and 3D visualization. Errors in the estimated orientations severely affect all further processing steps. Recent systematic comparisons of existing algorithms show that out-of-the-box accuracy is often low and that application-specific tuning is required to obtain high accuracy. In the present work, we propose and extensively evaluate a quaternion-based orientation estimation algorithm that is based on a novel approach of filtering the acceleration measurements in an almost-inertial frame and that includes extensions for gyroscope bias estimation and magnetic disturbance rejection, as well as a variant for offline data processing. In contrast to all existing work, we perform an extensive evaluation, using a large collection of publicly available datasets and eight literature methods for comparison. The proposed method consistently outperforms all eight literature methods and achieves an average RMSE of 2.9°, while the errors obtained with literature methods range from 5.3° to 16.7°. This improved accuracy with respect to the state of the art is observed not only in average but also for each of several different motion characteristics, as well as for gyroscope bias estimation. Since the evaluation was performed with one single fixed parametrization across a very diverse dataset collection, we conclude that the proposed method provides unprecedented out-of-the-box performance for a broad range of motions, sensor hardware, and environmental conditions. This gain in orientation estimation accuracy is expected to advance the field of IMU-based motion analysis and provide performance benefits in numerous applications. The

关键词： Gyroscopes

来源：评论

学校读者我要写书评

暂无评论

Networked Supervisory control Synthesis of Timed Discrete-Event systems

arXiv

引用

arXiv 2021年

作者： Rashidinejad, Aida Reniers, Michel Fabian, Martin The Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands Department of Electrical Engineering Chalmers University of Technology Sweden

—Conventional supervisory control theory assumes full synchronization between the supervisor and the plant. This assumption is violated in a networked-based communication setting due to the presence of delays, and this may result in incorrect behavior of a supervisor obtained from conventional supervisory control theory. This paper presents a technique to synthesize a networked supervisor handling communication delays. For this purpose, first, a networked supervisory control framework is provided, where the supervisor interacts with the plant through control and observation channels, both of which introduce delays. The control channel is FIFO, but the observation channel is assumed to be non-FIFO so that the observation of events may not necessarily be received by the supervisor in the same order as they occurred in the plant. It is assumed that a global clock exists in the networked control system, and so the communication delays are represented in terms of time. Based on the proposed framework, a networked plant automaton is achieved, which models the behavior of the plant under the effects of communication delays and disordered observations. Based on the networked plant, the networked supervisor is synthesized, which is guaranteed to be (timed networked) controllable, nonblocking, time-lock free, (timed networked) maximally permissive, and satisfies control requirements for the plant. Copyright © 2021, The Authors. All rights reserved.

关键词： Discrete event simulation

来源：评论

学校读者我要写书评

暂无评论

Neural Network Training Using Closed-Loop Data: Hazards and an Instrumental Variable (IVNN) Solution

arXiv

引用

arXiv 2022年

作者： Kon, Johan Heertjes, Marcel Oomen, Tom Control Systems Technology Group Departement of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands ASML Mechatronics System Development Veldhoven Netherlands Delft Center for Systems and Control Delft University of Technology P.O. Box 5 Delft2600 AA Netherlands

An increasing trend in the use of neural networks in control systems is being observed. The aim of this paper is to reveal that the straightforward application of learning neural network feedforward controllers with closed-loop data may introduce parameter inconsistency that degrades control performance, and to provide a solution. The proposed method employs instrumental variables to ensure consistent parameter estimates. A nonlinear system example reveals that the developed instrumental variable neural network (IVNN) approach asymptotically recovers the optimal solution, while pre-existing approaches are shown to lead to inconsistent estimates. Copyright © 2022, The Authors. All rights reserved.

关键词： Feedforward neural networks

来源：评论

学校读者我要写书评

暂无评论

HOW LEARNING control SUPPORTS INDUSTRY 4.0 IN SEMICONDUCTOR MANUFACTURING 6

HOW LEARNING CONTROL SUPPORTS INDUSTRY 4.0 IN SEMICONDUCTOR ...

引用

6th ASPE Spring Topical Meeting on Design and control of Precision Mechatronic systems

作者： Veen, Gijs Van Der Stokkermans, Joep Mooren, Noud Oomen, Tom Equipment & Automation Technologies Nexperia Nijmegen Netherlands Department Of Mechanical Engineering Control Systems Technology Group Eindhoven University Of Technology Eindhoven Netherlands

来源：评论

学校读者我要写书评

暂无评论

Learning nonlinear feedforward: a Gaussian Process Approach Applied to a Printer with Friction

arXiv

引用

arXiv 2021年

作者： van Meer, Max Poot, Maurice Portegies, Jim Oomen, Tom The Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands The Delft Center for Systems and Control Delft University of Technology Delft Netherlands The Applied Analysis Group Department of Mathematics and Computer Science Eindhoven University of Technology Netherlands

Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using input-output data, which directly delivers feedforward signals for a-priori unknown tasks. To this end, inverse systems are regarded as noncausal nonlinear finite impulse response (NFIR) systems, and modeled as a Gaussian Process with a stationary kernel function that imposes properties such as smoothness and periodicity. The approach is validated experimentally on a consumer printer with friction and shown to lead to improved tracking performance with respect to linear feedforward. Copyright © 2021, The Authors. All rights reserved.

关键词： Friction

来源：评论

学校读者我要写书评

暂无评论

Maximum-likelihood extremum seeking control of microalgae cultures

引用

IFAC-PapersOnLine 2021年第3期54卷 336-341页

作者： Laurent Dewasme Alain Vande Wouwer Christian Gabin Feudjio Letchindjio Afaq Ahmad Sebastian Engell Systems Estimation Control and Optimization (SECO) University of Mons (UMONS) Belgium Process Dynamics and Operations Group Department of Biochemical and Chemical Engineering TU Dortmund University Germany

This paper proposes a model-free extremum seeking control (ESC) approach to optimize the productivity of continuous cultures of microalgae, considering the dilution rate and the light intensity as manipulated variables, and the biomass concentration as single measurement. The resulting two-input single-output optimization problem is first solved using a recursive least-squares strategy based on the representation of the process by a Hammerstein block-oriented model. In order to face the presence of noise on the regressor variables (input and output signals), the problem is then reformulated as a maximum-likelihood estimation problem, which is solved on a moving horizon. Simulation results demonstrate the method performance.

关键词： real-time optimization optimal control parameter estimation least-squares biotechnology

来源：评论

学校读者我要写书评

暂无评论

AI Enabled Automatic Mobile Robot Intelligent Navigation in Construction with Obstacle Awareness

引用

IEEE Transactions on Automation Science and engineering 2025年

作者： Zhang, Yinlong Liu, Yuanhao Cui, Yunge Zeng, Ziming Liang, Wei Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China University of Chinese Academy of Sciences Beijing101408 China Zeekr Group Zeekr Intelligent Driving Department Shanghai110078 China Shenzhen Polytechnic University School of Automotive and Transportation Engineering Shenzhen518055 China

In the construction industry, the integration of artificial intelligence (AI) and robotics has led to significant advancements in automating various tasks. One critical aspect is the intelligent navigation of automatic mobile robot (AMR) within construction sites, where dynamic environments pose challenges such as inaccurate robot state estimation, irregular and textureless obstacle detection. To solve these issues, this paper designs an AI enabled obstacle-aware AMR intelligent navigation approach while ensuring robot safety and efficiency. Specifically, the robot is equipped with the complementary RGB camera, inertial measurement unit (IMU) and wheel encoder to estimate the states (i.e., positions, orientations and velocities), which have been tightly fused in the optimization framework. Furthermore, the RGB-Depth images are jointly fed into the AI model. It combines of Mask-RCNN and multi-scale attention network, to detect and segment the obstacles, and estimate the corresponding relative depth. It should be noted that the system incorporates obstacle awareness mechanisms to dynamically switch the robot's velocities in response to obstacles in the environment, ensuring smooth and collision-free movement. Experimental results demonstrate the effectiveness and robustness of the proposed AI-enabled navigation system in real-world construction scenarios, showcasing its potential to enhance productivity and safety in construction automation. © 2004-2012 IEEE.

关键词： Construction industry

来源：评论

学校读者我要写书评

暂无评论

Data-driven feedback linearisation using model predictive control

arXiv

引用

arXiv 2022年

作者： Floren, Merijn Classens, Koen Oomen, Tom Noël, Jean-Philippe nic System Dynamics Division Celestijnenlaan 300 Leuven3001 Belgium Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Group PO Box 513 MB Eindhoven5600 Netherlands

Linearising the dynamics of nonlinear mechanical systems is an important and open research area. In this paper, we adopt a data-driven and feedback control approach to tackle this problem. A model predictive control architecture is developed that builds upon data-driven dynamic models obtained using nonlinear system identification. The overall methodology shows a high degree of performance combined with significant robustness against imperfect modelling and extrapolation. These findings are demonstrated using large set of synthetic experiments conducted on a asymmetric Duffing oscillator and using an experimental prototype of a high-precision motion system. © 2022, CC BY.

关键词： Model predictive control

来源：评论

学校读者我要写书评

暂无评论

A Framework for Integrated Virtual Preparation and Commissioning of Intelligent Automation systems

SSRN

引用

SSRN 2022年

作者： Erős, Endre Bengtsson, Kristofer Dahl, Martin Falkman, Petter Chalmers University of Technology Electrical Engineering Systems and Control Automation Research Gothenburg41296 Sweden Volvo AB Group Trucks Operations Division Manufacturing Solutions Research and Technology Development Gothenburg41715 Sweden

Using a traditional automation approach for modern production challenges that require highly flexible, deliberative, adaptive, and collaborative solutions is inadequate. Instead of explicitly programming control code and performing virtual verification for topologically static and fully automatic roboticcells, intelligent automation systems have emerged to offer an alternative to how automation is currently performed. This entails the use of behavior modeling, planning, scheduling, control, and testing algorithms which are not yet integrated in the traditional automation tool-chain, as well as virtual modeling, preparation, commissioning, and verification tools which offer more flexibility compared to well established and commercially available tools. To address the gap between the need of intelligent automation systems and the lack of tools that are needed to implement such systems,this paper presents a framework for virtual preparation and commissioning of intelligent automation systems, with the main goal to depict the steps that have to be taken in order to develop such systems, and to offer support for engineers to take those steps. The framework consists of steps such as virtual preparation, resource emulation, and several steps such as constructive, hardware-in-the-loop, reality-in-the-loop, and physical commissioning. This paper aims to lay down some of the groundwork for fast and integrated preparation and virtual commissioning of intelligent automation systems, and provides an industrial use-case to exemplify the application of this framework. © 2022, The Authors. All rights reserved.

关键词： Robot Operating System

来源：评论

学校读者我要写书评

暂无评论

Incremental dissipativity based control of discrete-time nonlinear systems via the LPV framework

arXiv

引用

arXiv 2021年

作者： Koelewijn, Patrick J.W. Tóth, Roland Weiland, Siep Control Systems Group Faculty of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary

Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shaping. The Linear Parameter-Varying (LPV) framework sought to bridge this gap by extending convex LTI synthesis results such that they could be applied to nonlinear systems. However, recent literature has shown that naive application of the LPV framework can fail to guarantee the desired asymptotic stability guarantees for nonlinear systems. Incremental dissipativity theory has been successfully used in the literature to overcome these issues for Continuous-Time (CT) systems. However, so far no solution has been proposed for output-feedback based incremental control for the Discrete-Time (DT) case. Using recent results on convex analysis of incremental dissipativity for DT nonlinear systems, in this paper, we propose a convex output-feedback controller synthesis method to ensure closed-loop incremental dissipativity of DT nonlinear systems via the LPV framework. The proposed method is applied on a simulation example, demonstrating improved stability and performance properties compared to a standard LPV controller design. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：