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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Analog, Programmable Switched Capacitor FIR Filter Based on Rotator Architecture Implemented in CMOS technology 26

Analog, Programmable Switched Capacitor FIR Filter Based on ...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Pawlowski, Pawel Dlugosz, Rafal Radkowski, Marek Watly, Mateusz Dabrowski, Adam Poznań University of Technology Division of Signal Processing and Electronic Systems Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznań60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350304985

The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip. © 2023 Division of Signal Processing and Electronic systems, Poznan University of technology (DSPES PUT).

关键词： FIR filters

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On discount functions for economic model predictive control without terminal conditions

arXiv

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arXiv 2024年

作者： Schwenkel, Lukas Briem, Daniel Müller, Matthias A. Allgöwer, Frank University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70569 Germany Leibniz University Hannover Institute of Automatic Control Hannover30167 Germany

In this paper, we investigate discounted economic model predictive control (E-MPC) schemes without terminal conditions in scenarios where the optimal operating behavior is a periodic orbit. For such a setting, it is known that a linearly discounted stage cost guarantees asymptotic stability of any arbitrarily small neighborhood of the optimal orbit if the prediction horizon is sufficiently long. However, in some examples very long prediction horizons are needed to achieve the desired performance. In this work, we extend these results by providing the same qualitative stability guarantees for a large class of discount functions. Numerical examples illustrate the influence of the discount function and show that with suitable discounting we can achieve significantly better performance than the linearly discounted E-MPC, even for short prediction horizons. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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Reverse average dwell time constraints enable arbitrary maximum allowable transmission intervals

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IFAC-PapersOnLine 2023年第1期56卷 379-384页

作者： Michael Hertneck Frank Allgöwer University of Stuttgart Institute for Systems Theory and Automatic Control 70569 Stuttgart Germany

When designing networked control systems (NCS), stability guarantees are typically derived based on the maximum possible time between successive transmissions. A bound on this time is called the maximum allowable transmission interval (MATI). In order to minimize network usage, one is often interested in the maximum value of the MATI for which stability can still be guaranteed for the NCS. However, in many practical scenarios, the worst case transmission behavior occurs only seldom, rendering an analysis based solely on the MATI unnecessarily conservative. It was recently shown in the literature that considering information about the average allowable transmission interval in the form of a reverse average dwell time (RADT) can be used to increase the maximum value of the MATI for which stability can be guaranteed. Using the same assumptions, we show that stability guarantees can even be obtained for any arbitrary given value of the MATI as long as the RADT is small enough.

关键词： Quantized Feedback Feedback with Communication Constraints control of Sampled Data systems Hybrid Nonlinear control systems

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High Voltage Converter control System Communication and PWM Delays Analysis 25

High Voltage Converter Control System Communication and PWM ...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Evdokimov, Sergey Zhoraev, Timur Potapov, Alexey Institute of Microdevices and Control Systems National Research University of Electronic Technology Moscow Russia JSC NTC RIAS Moscow Russia

ISBN: (纸本)9798350389234

This article is about the effects of computation delay on the stability caused by pulse-width modulation computation cycle and communication interface especially at high voltage systems. A topology for implementing a multilevel converter using electromechanical link between leveling sections by isolated rotating shaft is proposed. IR-fiber optic communication based on standard serial port transmission between microcontrollers is studied. A closed system is symbolically studied using the Maxima CAS. An analysis method is proposed using a delay approximation and a zero-order hold extrapolator using the Padé approximation. It is shown that starting from a certain point of the PWM frequency in relation to the resonant frequency of the LC filter, the transient process in the presence of arbitrary feedback without compensation of the resonant characteristic becomes unstable. A compensator based on a notch filter is proposed, and its frequency should correspond well to the resonant frequency of the filter, therefore, the method of zeros matching is used instead of a method with frequency warping. © 2024 IEEE.

关键词： Pulse width modulation

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Using Quantum Computers In control: Interval Matrix Properties

Using Quantum Computers In Control: Interval Matrix Properti...

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European control Conference (ECC)

作者： Jan Schneider Julian Berberich Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Quantum computing provides a powerful frame-work for tackling computational problems that are classically intractable. The goal of this paper is to explore the use of quantum computers for solving relevant problems in systems and control theory. In the recent literature, different quantum algorithms have been developed to tackle binary optimization, which plays an important role in various control-theoretic problems. As a prototypical example, we consider the verification of interval matrix properties such as non-singularity and stability on a quantum computer. We present a quantum algorithm solving these problems and we study its performance in simulation. Our results demonstrate that quantum computers provide a promising tool for control whose applicability to further computationally complex problems remains to be explored.

关键词： Computers Quantum algorithm Symmetric matrices Robust stability Quantum mechanics Europe Stability analysis

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Near-optimal performance of stochastic economic MPC 63

Near-optimal performance of stochastic economic MPC

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Schiesl, Jonas Ou, Ruchuan Faulwasser, Timm Baumann, Michael H. Grune, Lars Mathematical Institute University of Bayreuth Germany Institute for Energy Systems Energy Efficiency and Energy Economics Tu Dortmund University Germany Institute of Control Systems Hamburg University of Technology Hamburg Germany

ISBN: (纸本)9798350316339

This paper presents first results for near optimality in expectation of the closed-loop solutions for stochastic economic MPC. The approach relies on a recently developed turnpike property for stochastic optimal control problems at an optimal stationary process, combined with techniques for analyzing time-varying economic MPC schemes. We obtain near optimality in finite time as well as overtaking and average near optimality on infinite time horizons. © 2024 IEEE.

关键词： Stochastic systems

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Transformer-Based Macroscopic Regulation for High-Speed Railway Timetable Rescheduling

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IEEE/CAA Journal of automatica Sinica 2023年第9期10卷 1822-1833页

作者： Wei Xu Chen Zhao Jie Cheng Yin Wang Yiqing Tang Tao Zhang Zhiming Yuan Yisheng Lv Fei-Yue Wang Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Signal&Communication Research Institute China Academy Railway SciencesBeijing 100081China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

Unexpected delays in train operations can cause a cascade of negative consequences in a high-speed railway *** such cases,train timetables need to be ***,timely and efficient train timetable rescheduling is still a challenging problem due to its modeling difficulties and low optimization *** paper presents a Transformer-based macroscopic regulation approach which consists of two stages including Transformer-based modeling and policy-based ***,the relationship between various train schedules and operations is described by creating a macroscopic model with the Transformer,providing the better understanding of overall operation in the high-speed railway ***,a policy-based approach is used to solve a continuous decision problem after macro-modeling for fast *** experiments on various delay scenarios are *** results demonstrate the effectiveness of the proposed method in comparison to other popular methods.

关键词： High-speed railway reinforcement learning train timetable rescheduling Transformer

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Detection of Stealthy False Data Injection Attacks Against Cyber-Physical systems:A Stochastic Coding Scheme

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Journal of systems Science & Complexity 2022年第5期35卷 1668-1684页

作者： GUO Haibin PANG Zhonghua SUN Jian LI Jun State Key Lab of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongging Innovation Center Chongqing 401120China Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China

This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive *** detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI *** order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller *** this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an *** design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection *** minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.

关键词： Attack detection cyber-physical systems(CPSs) stealthy FDI attacks stochastic coding

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Autonomous E-Scooters for Sustainable Urban Mobility: Achievements and Insights from an Experimental Prototype

Autonomous E-Scooters for Sustainable Urban Mobility: Achie...

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16th European Robotics Forum, ERF 2025

作者： Strässer, Robin Brändle, Felix Meister, David Seidel, Marc Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany

ISBN: (纸本)9783031894701

Electric scooters (e-scooters) have become a key element in modern urban mobility, providing a convenient and eco-friendly alternative to traditional transportation. However, the increasing demand for e-scooters also brings challenges, such as the cluttering of public spaces, frequent maintenance, and the need for regular charging. To address these issues and enhance sustainability, we propose a modified e-scooter prototype capable of self-balancing and autonomous navigation, designed to optimize urban mobility systems sustainably. In particular, an autonomous e-scooter fleet can dynamically reposition itself to meet areas of high demand, reducing the need for manual redistribution and minimizing operational effort. Further, individual e-scooters can autonomously navigate to charging stations when their battery levels are low, ensuring a continuous, energy-efficient operation. Equipped with advanced sensors, these e-scooters detect obstacles and avoid collisions, ensuring safe and reliable use in urban environments. Thus, our prototype offers a significant step towards more sustainable urban transportation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Urban transportation

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