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IEEE Conference on Decision and control

作者： Ting Bai Alexander Johansson Karl Henrik Johansson Jonas Mårtensson Integrated Transport Research Lab and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Stockholm Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Truck drivers are required to stop and rest with a certain regularity according to the driving and rest time regulations, also called Hours-of-Service (HoS) regulations. This paper studies the problem of optimally forming platoons when considering realistic HoS regulations. In our problem, trucks have fixed routes in a transportation network and can wait at hubs along their routes to form platoons with others while fulfilling the driving and rest time constraints. We propose a distributed decision-making scheme where each truck controls its waiting times at hubs based on the predicted schedules of others. The decoupling of trucks’ decision-makings contributes to an approximate dynamic programming approach for platoon coordination under HoS regulations. Finally, we perform a simulation over the Swedish road network with one thousand trucks to evaluate the achieved platooning benefits under the HoS regulations in the European Union (EU). The simulation results show that, on average, trucks drive in platoons for 37% of their routes if each truck is allowed to be delayed for 5 % of its total travel time. If trucks are not allowed to be delayed, they drive in platoons for 12 % of their routes.

关键词： Schedules Simulation Roads Decision making Europe Regulation Dynamic programming

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A Concept of Microprocessor-Based Electrical Load control System with Extended Functionality 4

A Concept of Microprocessor-Based Electrical Load Control Sy...

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4th IEEE International Conference on Advanced Information and Communication Technologies, AICT 2021

作者： Kanovskyi, Andrii Osolinskyi, Oleksandr Lipyanina-Goncharenko, Hrystyna Sachenko, Anatoliy West Ukrainian National University Dept. for Information Computer Systems and Control Ternopil Ukraine Kazimierz Pulaski University of Technology and Humanities in Radom Department of Informatics Radom Poland Research Institute for Intelligent Computer Systems West Ukrainian National University Ternopil Ukraine

ISBN: (纸本)9781665406185

To increase energy safety when working with electrical devices (electronic equipment), a number of devices are used, such as a circuit breaker, RCCB circuit breaker, fuse links, relays and others. All of those components are designed to protect devices or people, who work with them, but access to them is often limited, in addition, the restriction is imposed also because the user must have certain qualifications. In addition, most of the elements are located in the electrical distribution box. The proposed concept of the control system is a compact solution, and allows to measure all the necessary parameters of energy consumption, analyze this parameters and make decisions, as well as, in fact, control the power of devices remotely using modern technologies, such as IoT, which expands the functions of a standard energy security system. The system itself can be located directly at the target consumer in the form of a surge protector or Watt-meter. © 2021 IEEE.

关键词： Internet of things

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Planning a haemodialysis process by minimum time control of hybrid systems with sliding motion

Planning a haemodialysis process by minimum time control of ...

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IEEE Conference on Decision and control

作者： Radosław Pytlak Damian Suski Faculty of Mathematics and Information Science Warsaw University of Technology Warsaw Poland Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9781665436601

The aim of the paper is to provide a computational tool for planning a haemodialysis process. It is shown that optimization methods can be used to obtain the most effective treatment focused on removing both urea and phosphorus during the process. Our approach to the planning process is based on a model which takes into account a rebound phenomenon and that results in a hybrid model in which sliding motion is likely to occur. For such a model we construct an optimization problem and a computational method for solving it. The presented approach to optimal control problems with hybrid systems is different from the others in several aspects. First of all, it is assumed that a hybrid system can exhibit sliding modes. Secondly, the system’s motion on the switching surface is described by index 2 differential–algebraic equations and that guarantees accurate tracking of the sliding motion surface. Thirdly, the gradients of the problem’s functionals are evaluated with the help of adjoint equations. The adjoint equations presented in the paper take into account sliding motion and exhibit jump conditions at transition times. The stated adjoint equations are used in a globally convergent algorithm which generates a sequence of controls whose accumulation points satisfy the weak maximum principle for optimal control problems with hybrid systems. The paper presents numerical results of solving haemodialysis planning problem.

关键词： Tracking Sensitivity analysis Computational modeling Process control Optimal control Optimization methods Switches

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Stability of Switched systems with Multiple Equilibria: A Mixed Stable-Unstable Subsystem Case

SSRN

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SSRN 2022年

作者： Yin, Hao Jayawardhana, Bayu Trenn, Stephan Discrete Technology & Production Automation University of Groningen Groningen9747 AG Netherlands Systems Control and Optimization Bernoulli Institute University of Groningen Groningen9747 AG Netherlands

This paper studies stability of switched systems that are composed of a mixture of stable and unstable modes with multiple equilibria. The main results of this paper include some sufficient conditions concerning set convergence of switched nonlinear systems. We show that under suitable dwell-time and leave-time switching laws, trajectories converge to an initial set and then stay in a convergent set. Based on these conditions, LMI conditions are derived that allow for numerical validation of practical stability of switched affine systems, which include those with all unstable modes. Two examples are provided to verify the theoretical results. © 2022, The Authors. All rights reserved.

关键词： System stability

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Ordinal Potential Differential Games to Model Human-Machine Interaction in Vehicle-Manipulators

Ordinal Potential Differential Games to Model Human-Machine ...

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control technology and Applications (CCTA),

作者： Balint Varga Jairo Inga Markus Lemmer Sören Hohmann Institute of Control Systems Karlsruhe Institute for Technology Karlsruhe Germany Information Technology FZI Research Center for Information Technology Karlsruhe Germany

ISBN: (纸本)9781665436441

Potential games have some useful characteristics related to the existence and computability of their Nash equilibria, which make their use attractive also in the context of modelling interactions. This paper presents the use of potential differential games to model human-machine interaction. We extend the definition of static ordinal potential games to differential games for modelling and analysing human-machine interaction in the control of large vehicle-manipulators. We provide sufficient and necessary conditions for the existence of a potential differential game. In addition, we present an optimization formulation finding a linear-quadratic (LQ) potential differential game to a original game. The suitability of the proposed modelling approach is verified using simulation examples.

关键词： Analytical models Computational modeling Conferences Differential games Games Man-machine systems Optimization

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Neural Radiance Fields for Novel View Synthesis in Monocular Gastroscopy

Neural Radiance Fields for Novel View Synthesis in Monocular...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Zijie Jiang Yusuke Monno Masatoshi Okutomi Sho Suzuki Kenji Miki Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Meguro-Ku Tokyo Japan Department of Gastroenterology International University of Health and Welfare Ichikawa Hospital Ichikawa-Shi Chiba Japan Department of Internal Medicine Tsujinaka Hospital Kashiwanoha Kashiwa-City Chiba Japan

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Enabling the synthesis of arbitrarily novel viewpoint images within a patient’s stomach from pre-captured monocular gastroscopic images is a promising topic in stomach diagnosis. Typical methods to achieve this objective integrate traditional 3D reconstruction techniques, including structure-from-motion (SfM) and Poisson surface reconstruction. These methods produce explicit 3D representations, such as point clouds and meshes, thereby enabling the rendering of the images from novel viewpoints. However, the existence of low-texture and non-Lambertian regions within the stomach often results in noisy and incomplete reconstructions of point clouds and meshes, hindering the attainment of high-quality image rendering. In this paper, we apply the emerging technique of neural radiance fields (NeRF) to monocular gastroscopic data for synthesizing photo-realistic images for novel viewpoints. To address the performance degradation due to view sparsity in local regions of monocular gastroscopy, we incorporate geometry priors from a pre-reconstructed point cloud into the training of NeRF, which introduces a novel geometry-based loss to both pre-captured observed views and generated unobserved views. Compared to other recent NeRF methods, our approach showcases high-fidelity image renderings from novel viewpoints within the stomach both qualitatively and quantitatively.

关键词： Training Point cloud compression Geometry Stomach Surface reconstruction Three-dimensional displays Neural radiance field Rendering (computer graphics) Cameras Image reconstruction

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Higher-order interactions induce anomalous transitions to synchrony

arXiv

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arXiv 2023年

作者： León, Iván Muolo, Riccardo Hata, Shigefumi Nakao, Hiroya Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8550 Japan Department of Mathematics and naXys Namur Institute for Complex Systems University of Namur Rue Grafé 2 Namur5000 Belgium Graduate School of Science and Engineering Kagoshima University Korimoto 1-21-35 Kagoshima890-0065 Japan

We analyze the simplest model of identical coupled phase oscillators subject to two-body and three-body interactions with permutation symmetry and phase lags. This model is derived from an ensemble of weakly coupled nonlinear oscillators by phase reduction, where the first and second harmonic interactions with phase lags naturally appear. Our study indicates that the higher-order interactions induce anomalous transitions to synchrony. Unlike the conventional Kuramoto model, higher-order interactions lead to anomalous phenomena such as multistability of full synchronization, incoherent, and two-cluster states, and transitions to synchrony through slow switching and clustering. Phase diagrams of the dynamical regimes are constructed theoretically and verified by direct numerical simulations. We also show that similar transition scenarios are observed even if a small heterogeneity in the oscillators' frequency is included. © 2023, CC BY.

关键词： Synchronization

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control theoretically explainable application of autoencoder methods to fault detection in nonlinear dynamic systems

arXiv

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arXiv 2022年

作者： Li, Linlin Ding, Steven X. Liang, Ketian Chen, Zhiwen Xue, Ting School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg47057 Germany Key Laboratory of Energy Saving Control and Safety Monitoring for Rail Transportation of Hunan Provincial School of Automation Central South University Changsha410083 China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao266590 China

This paper is dedicated to control theoretically explainable application of autoencoders to optimal fault detection in nonlinear dynamic systems. Autoencoder-based learning is a standard machine learning method and widely applied for fault (anomaly) detection and classification. In the context of representation learning, the so-called latent (hidden) variable plays an important role towards an optimal fault detection. In ideal case, the latent variable should be a minimal sufficient statistic. The existing autoencoder-based fault detection schemes are mainly application-oriented, and few efforts have been devoted to optimal autoencoder-based fault detection and explainable applications. The main objective of our work is to establish a framework for learning autoencoder-based optimal fault detection in nonlinear dynamic systems. To this aim, a process model form for dynamic systems is firstly introduced with the aid of control theory, which also leads to a clear system interpretation of the latent variable. The major efforts are made on the development of a control theoretic solution to the optimal fault detection problem, in which an analog concept to minimal sufficient statistic, the so-called lossless information compression, is introduced and proven for dynamic systems and fault detection specifications. In particular, the existence conditions for such a latent variable are derived, based on which a loss function and further a learning algorithm are developed. This learning algorithm enables optimally training of autoencoders to achieve an optimal fault detection in nonlinear dynamic systems. A case study on three-tank system is given at the end of this paper to illustrate the capability of the proposed autoencoder-based fault detection and to explain the essential role of the latent variable in the proposed fault detection system. Copyright © 2022, The Authors. All rights reserved.

关键词： Fault detection

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Razumikhin and Krasovskii Approaches for Safe Stabilization

arXiv

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arXiv 2022年

作者： Ren, Wei Jungers, Raphaël M. Dimarogonas, Dimos V. ICTEAM Institute Université Catholique de Louvain Louvain-la-Neuve 1348 Belgium Division of Decision and Control Systems EECS KTH Royal Institute of Technology StockholmSE-10044 Sweden

This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel control barrier functions/functionals for the safety problem. The proposed control Lyapunov and barrier functions/functionals extend the existing ones from the delay-free case to the time-delay case, and allow for designing the stabilizing and safety controllers in closed-form. Since analytical solutions to time-delay optimal control problems are hard to be achieved, a sliding mode control based approach is developed to merge the proposed control Lyapunov and barrier functions/functionals. Based on the sliding surface functional, a feedback control law is established to investigate the stabilization and safety objectives simultaneously. In particular, the properties of the sliding surface functional are analyzed, and further how to construct the sliding surface functional is discussed. Finally, the proposed approaches are illustrated via two numerical examples from the connected cruise control problem of automotive systems and the synchronization problem of multi-agent systems. Copyright © 2022, The Authors. All rights reserved.

关键词： Sliding mode control

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Unsupervised Monocular Depth Estimation with Attention Based Inception Pipe and Overlap Regularized Loss 21

Unsupervised Monocular Depth Estimation with Attention Based...

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Proceedings of the 2021 5th International Conference on Video and Image Processing

作者： Xiaoyuan Jiang Xihai Chen Zhao Zhang NARI Technology Co. LtdNARI-TECH Nanjing Control Systems Ltd NARI Group Corporation / State Grid Electric Power Research Institute China

ISBN: (纸本)9781450385893

Unsupervised learning methods that treat depth estimation as image reconstruction has achieved promising results recently. Most existing methods generate disparity maps from multi-layers residual network by training image reconstruction loss for left right view image pairs. Even the smooth regularized loss that allows for the depth discontinuities at object contours has been introduced, depth maps generated by these methods still suffer from border blur or dilation at image gradients. To overcome this problem, we improve the unsupervised depth estimation network by attaching the attention based inception pipe and overlap regularized loss. While using residual layer to generate the disparity maps, we also enforce the global inception pipe to auto-adjust depth changes according to the spatial attention values. In addition, we use the overlap regularized weights in final loss computation to reduce the reconstruction errors at non-overlapping area for the aligned image pairs. Our methods can present more depth details at object contours and boundaries and produce superior performance for depth estimation on KITTI dataset compared to the typical methods.

关键词： Depth estimation Overlap regularized loss Unsupervised Attention based inception pipe

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