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Design of a Mechatronic Endoskeleton Robot for Inspection Tasks: Model Reference Adaptive control (MRAC) for Serpentine Locomotion with Stability Analysis

Design of a Mechatronic Endoskeleton Robot for Inspection Ta...

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International Conference on Developments in esystems engineering (DESE)

作者： Ammar K. Al Mhdawi Nick Wright Mohammed I. Younis Amjad J. Humaidi School of Engineering and Sustainable Development De Montfort University Leicester UK Department of Electrical and Electronic Engineering Newcastle University Newcastle UK Department of Computer Engineering University of Baghdad Iraq Department of Control and Systems Engineering University of Technology Baghdad Iraq

ISBN: (数字)9798350368697

ISBN: (纸本)9798350368703

An advantage of bio-inspired robots is the versatility of their locomotion on a wide range of terrains that conventional robots are not able to traverse. The snake-like robot, which is a mechanism designed to move in the manner of a biological snake, is an example of a bio-inspired platform. This paper aims to implement and validate, using real and simulation tests on flat terrain, a snake-like endoskeleton robot that permits serpentine movement with adaptive control capabilities. The prototype mechatronic robot was comprised of eleven segments that were 3D printed sequentially. A simulation using Matlab’s Multibody Mechanics tool determines the necessary torques for each motor. In this simulation, a parameterized virtual model of the robot is created, where rectilinear gaits are programmed. In accordance with simulation and experimental results, the robot undertakes different times to reach the goal trajectory or end points depending on the frequency, angular position, and wave length (duty cycle). As a result, there is a high degree of similarity between the simulation tests and those conducted with the prototype endoskeleton. Furthermore, the robot is equipped with machine vision capabilities that allow it to detect faults within oil and gas pipes for the purpose of inspection and maintenance. Furthermore, a Model Reference Adaptive control (MRAC) method based on Lyapunov stability analysis and MIT rules is proposed. The theoretical analysis and numerical simulation show that the designed trajectory tracking control law can make the multi-joint snake-like robot track the trajectory of the front joint when the robot encounters disturbances and stabilize the angular position and velocity of the first two head joints when disturbances occur.

关键词： Adaptation models Analytical models Mechatronics Prototypes Inspection Mathematical models Trajectory Adaptive control MATLAB Robots

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Large Language Model as a Catalyst: A Paradigm Shift in Base Station Siting Optimization

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Wang, Yanhu Afzal, Muhammad Muzammil Li, Zhengyang Zhou, Jie Feng, Chenyuan Guo, Shuaishuai Quek, Tony Q. S. Shandong University School of Control Science and Engineering Jinan250062 China EURECOM Department of Communication Systems Sophia Antipolis06410 France Singapore University of Technology and Design Singapore487372 Singapore Kyung Hee University Department of Electronic Engineering Yongin17104 Korea Republic of

Traditional base station siting (BSS) methods rely heavily on drive testing and user feedback, which are laborious and require extensive expertise in communication, networking, and optimization. As large language models (LLMs) and their associated technologies advance, particularly in the realms of prompt engineering and agent engineering, network optimization will witness a revolutionary approach. This approach entails the strategic use of well-crafted prompts to infuse human experience and knowledge into these sophisticated LLMs, and the deployment of autonomous agents as a communication bridge to seamlessly connect the machine language based LLMs with human users using natural language. Furthermore, our proposed framework incorporates retrieval-augmented generation (RAG) to enhance the system's ability to acquire domain-specific knowledge and generate solutions, thereby enabling the customization and optimization of the BSS process. This integration represents the future paradigm of artificial intelligence (AI) as a service and AI for more ease. This research first develops a novel LLM-empowered BSS optimization framework, and heuristically proposes three different potential implementations: the strategies based on Prompt-optimized LLM (PoL), LLM-empowered autonomous BSS agent (LaBa), and Cooperative multiple LLM-based autonomous BSS agents (CLaBa). Through evaluation on real-world data, the experiments demonstrate that prompt-assisted LLMs and LLM-based agents can generate more efficient and reliable network deployments, noticeably enhancing the efficiency of BSS optimization and reducing trivial manual participation. © 2015 IEEE.

关键词： systems analysis

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Forty Plus Years of Model Reduction and Still Learning 63

Forty Plus Years of Model Reduction and Still Learning

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Astolff, A. Beck, C.L. Bhattacharjee, D. Kawano, Y. Moreschini, A. Sandberg, H. Scherpen, J.M.A. Imperial College London Department of Electrical and Electronic Engineering United Kingdom Università di Roma 'Tor Vergata' Dipartimento di Ingegneria Civile e Ingegneria Informatica Italy Univ. of Illinois at Urbana-Champaign IL United States Hiroshima University Graduate School of Advanced Science and Engineering Japan Kth Royal Institute of Technology Stockholm Sweden Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Jan C. Willems Center for Systems and Control Netherlands

ISBN: (纸本)9798350316339

The approximation of complex dynamical systems models by reduced order models has been considered an important research problem for over four decades, not only in the field of control, but also in economics, image processing, circuit analysis, statistical mechanics, aircraft structures, and more recently in hybrid energy systems, to name just a sampling of fields. In this paper, we provide an overview of the development of balanced truncation and interpolation approaches for reducing linear and non-linear dynamical systems models for the purpose of control analysis and design. © 2024 IEEE.

关键词： Importance sampling

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Efficient Internal AC Heating System for CubeSat Power Storage Subsystems

Efficient Internal AC Heating System for CubeSat Power Stora...

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SICE Annual Conference

作者： Punyapat Areerob Nirut Phattanarat Makarapun Makaramani Chanon Khongprasongsiri Sudchai Boonto Department of Electronic and Telecommunication Engineering King Mongkut's University of Technology Thonburi Department of Mechanical Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi National Astronomical Research Institute of Thailand Department of Control Systems and Instrumentation Engineering King Mongkut's University of Technology Thonburi

ISBN: (数字)9784907764838

ISBN: (纸本)9798331544461

The proliferation of space technology and the decreasing cost of launching services have spurred the development of components for CubeSats. Among these components, the power storage subsystem, which is responsible for distributing power stored in batteries to the system, is of utmost importance. However, ensuring battery functionality in the harsh space environment, characterized by low temperatures, poses a significant challenge. Traditional external heating systems that heat batteries are often complex and unsuitable for resource-limited environments like CubeSats. Therefore, this paper proposes AC internal heating based on charge pump topology to generate AC current and validate battery aging analysis via Electrochemical Impedance Spectroscopy (EIS). This method offers efficiency in terms of space utilization and rapid heating rates. The results of our study demonstrate that the proposed heating system achieves a heating rate of 7.5 degrees Celsius in Panasonic NCR18650 cells with an RMS current of 4.37C while consuming only 1.85% of the cell's energy. Moreover, after 60 heating cycles, no signs of battery degradation were observed, making it suitable for non-serviceable battery systems.

关键词： Heating systems Degradation Charge pumps Surface impedance Heat pumps Batteries Topology CubeSat Space heating Testing

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An Improved PI controller for Stiction Compensation of control Valves in Process Industry

An Improved PI Controller for Stiction Compensation of Contr...

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第43届中国控制会议

作者： Dong Yang Xun Lang Jiande Wu Yumin Lang Lei Xie Hongye Su Department of Electronic Engineering School of Information Yunnan University Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University State Key Laboratory of Industrial Control Technology Zhejiang University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the process industry, limit cycles are mostly induced by stiction-related nonlinearity in control valves, severely deteriorating control loop performance. Such problem highlights the importance of compensating for oscillations due to valve stiction. To this end, this work introduces an improved PI controller(IPIC) for stiction compensation, which retains the advantages of the traditional PI controller with fewer adjustment parameters. The enhancement involves nonlinear variation of the integral gain based on instantaneous error. Additionally, a differential evolution algorithm is utilized for controller *** to state-of-the-art methods in setpoint tracking, disturbance rejection, and robustness to parameter uncertainties, the proposed approach exhibits superior performance.

关键词： Stiction Limit Cycle Nonlinear PI controller Differential Evolution Algorithm

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Consistent and Asymptotically Statistically-Efficient Solution to Camera Motion Estimation

arXiv

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arXiv 2024年

作者： Zeng, Guangyang Zeng, Qingcheng Li, Xinghan Mu, Biqiang Chen, Jiming Shi, Ling Wu, Junfeng The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen518172 China The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix, which is not optimal in the maximum likelihood (ML) sense. In this paper, we dive into the original measurement model with respect to the rotation matrix and normalized translation vector and formulate the ML problem. We then propose a two-step algorithm to solve it: In the first step, we estimate the variance of measurement noises and devise a consistent estimator based on bias elimination;In the second step, we execute a one-step Gauss-Newton iteration on manifold to refine the consistent estimate. We prove that the proposed estimate owns the same asymptotic statistical properties as the ML estimate: The first is consistency, i.e., the estimate converges to the ground truth as the point number increases;The second is asymptotic efficiency, i.e., the mean squared error of the estimate converges to the theoretical lower bound - Cramer-Rao bound. In addition, we show that our algorithm has linear time complexity. These appealing characteristics endow our estimator with a great advantage in the case of dense point correspondences. Experiments on both synthetic data and real images demonstrate that when the point number reaches the order of hundreds, our estimator outperforms the state-of-the-art ones in terms of estimation accuracy and CPU time. Copyright © 2024, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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Machine Learning and Intelligent Network System based Covid 19 Health Care System 3

Machine Learning and Intelligent Network System based Covid ...

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3rd International Conference on Power, Energy, control and Transmission systems, ICPECTS 2022

作者： Basha, Amjath Ali Jakul Saravanan, K. Mangayarkarasi, T. Balarengadurai, C. University of Technology and Applied Sciences Ibra Sultanate of Oman RCC - ENGG Department Computer Engineering Electrical and Electronic Section Department of Engineering Oman R.M.D Engineering College Department of Information Technology Tamil Nadu Chennai India Sri Sairam Engineering College Department of Instrumentation and Control Engineering Tamil Nadu Chennai India Vidyavardhaka College of Engineering Department of Computer Science and Engineering Karnataka Mysuru India

ISBN: (纸本)9781665462754

COVID-19 has lately infected a big number of people worldwide. Medical service frameworks are strained as a result of the infection. The emergency unit, which is part of the medical services area, has experienced several challenges as a result of the low data quality offered by existing ICU clinical equipment. The Internet of Things has enhanced the capability for essential information mobility in medical services in the twenty-first century. Nonetheless, many of today's ideal models use IoT innovation to assess patients' well-being. As a result, executives lack understanding regarding the most effective method to apply such innovation to ICU clinical equipment. The IoT Based Paradigm for Medical Equipment Management systems, a breakthrough IoT-based paradigm for successfully administering clinical hardware in ICUs, is introduced in this study. During the COVID-19 episode, IoT technology is used to boost the data stream between clinical hardware, executive frameworks, and ICUs, enabling the maximum level of openness and reasonableness in clinical equipment redistribution. IoT MEMS conceptual and functional features were painstakingly drawn. Using IoT MEMS expands the capacity and limits of emergency clinics, effectively easing COVID-19. It will also have a substantial impact on the nature of the data and will improve the partners' trust and transparency. © 2022 IEEE.

关键词： COVID-19

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A Survey on Application of Artificial Intelligence Techniques in Microgrid control

A Survey on Application of Artificial Intelligence Technique...

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Compatibility in Power electronics (CPE)

作者： Javier Gutiérrez-Escalona Carlos Roncero-Clemente Oleksandr Husev Eva González-Romera María Isabel Milanés-Montero Tomislav Dragičević Electrical Electronic and Control Engineering Department University of Extremadura Badajoz Spain Department of Electrical Power Engineering and Mechatronics Tallin University of Technology Tallin Estonia Wind and Energy Systems Department Technical University of Denmark (DTU) Copenhaguen Denmark

ISBN: (数字)9798350318265

ISBN: (纸本)9798350318272

Concerns over the energy and environmental crisis are driving the strategic integration of distributed generators (DGs) in power systems, hastening the shift to sustainable energy. Microgrids (MGs) emerged as self-reliant, localized power solutions for DGs integration, enhancing grid performance and reliability by allowing grid-connected and islanded modes of operation. Moreover, the dc nature of many DGs and household devices, together with the progress in power electronics, have shifted research from conventional ac MGs towards dc and hybrid ac/dc MGs, which increase the complexity and the number of control scenarios. Therefore, the MG control environment require advanced data-driven algorithms to overcome the stochasticity and non-linear characteristics of MGs systems. In this context, artificial intelligence (AI) techniques demonstrate high potential for enhancing the control and operation in the dynamic MG environment. This paper reviews the most recent research effort regarding the application of AI-based technology in the hierarchical control structure for ac, dc and hybrid ac/dc MG architectures.

关键词： Surveys Reviews Heuristic algorithms Refining Microgrids Propulsion Power electronics

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Distributed Nash Equilibrium Seeking with Stochastic Event-Triggered Mechanism

arXiv

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arXiv 2023年

作者： Huo, Wei Tsang, Kam Fai Elvis Yan, Yamin Johansson, Karl Henrik Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

In this paper, we study the problem of consensus-based distributed Nash equilibrium (NE) seeking where a network of players, abstracted as a directed graph, aim to minimize their own local cost functions non-cooperatively. Considering the limited energy of players and constrained bandwidths, we propose a stochastic event-triggered algorithm by triggering each player with a probability depending on certain events, which improves communication efficiency by avoiding continuous communication. We show that the distributed algorithm with the developed event-triggered communication scheme converges to the exact NE exponentially if the underlying communication graph is strongly connected. Moreover, we prove that our proposed event-triggered algorithm is free of Zeno behavior. Finally, numerical simulations for a spectrum access game are provided to illustrate the effectiveness of the proposed mechanism by comparing it with some existing event-triggered methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Directed graphs

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Low-disturbance Nonlinear control of TBM Cutterhead Speed in Coal Mine Tunneling

Low-disturbance Nonlinear Control of TBM Cutterhead Speed in...

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Annual Conference of Industrial electronics Society

作者： Nannan Liu Tong Wang Jianmin Wang Yingda Fan School of Electronic and Information Engineering Ningbo University of Technology Ningbo China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Department of Computer Science University of Pittsburgh Pittsburgh USA

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

To minimize the disturbance of the Tunnel Boring Machine (TBM) cutterhead on the surrounding rock during the coal mine roadway excavation process and ensure that the cutterhead rotation speed achieves fast tracking performance with minimal overshoot, we propose a direct adaptive robust control method for the cutterhead rotation speed hydraulic system based on inversion design. This method considers the strong disturbances such as loads and motion affecting the cutterhead hydraulic drive system, as well as the uncertainties in the cutterhead model. We establish the nonlinear model of the cutterhead hydraulic drive system and employ virtual control to reduce the model order. Using Lyapunov functions, we ensure the stability of the entire system and derive the control law for the cutterhead rotation speed controller, along with parameter-adaptive laws acting as parameter estimators. We validate the effectiveness of the proposed control strategy through joint simulation using AMESim and Simulink. The results show that the designed cutterhead rotation speed controller achieves high tracking accuracy and good adaptability.

关键词： Robust control Adaptation models Uncertainty Tracking Software packages Hydraulic drives Tunneling Stability analysis Coal mining Load modeling

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