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Identification of Gaussian Process State-Space Models with Particle Stochastic Approximation EM

IFAC Proceedings Volumes 2014年第3期47卷 4097-4102页

作者： Roger Frigola Fredrik Lindsten Thomas B. Schön Carl E. Rasmussen Dept. of Engineering University of Cambridge United Kingdom Div. of Automatic Control Linköping University Sweden Dept. of Information Technology Uppsala University Sweden

Gaussian process state-space models (GP-SSMs) are a very flexible family of models of nonlinear dynamical systems. They comprise a Bayesian nonparametric representation of the dynamics of the system and additional (hyper-)parameters governing the properties of this nonparametric representation. The Bayesian formalism enables systematic reasoning about the uncertainty in the system dynamics. We present an approach to maximum likelihood identification of the parameters in GP-SSMs, while retaining the full nonparametric description of the dynamics. The method is based on a stochastic approximation version of the EM algorithm that employs recent developments in particle Markov chain Monte Carlo for efficient identification.

关键词： System identification Bayesian Non-parametric identification Gaussian processes

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A ΓZ-source based hybrid power converter for battery-fuel cell hybrid electric vehicle

A ΓZ-source based hybrid power converter for battery-fuel c...

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UKACC International Conference on control (control)

作者： Jun Cai Qing-Chang Zhong David Stone Dept. Automatic Control and Systems Engineering University of Sheffield Sheffield UK Dept. Electronics and Electrical Engineering University of Sheffield Sheffield UK

Low cost and high reliability are the main issues considered in power converter design for hybrid electric vehicle. In this paper, a hybrid power converter is proposed for the power flow control of the battery-fuel cell hybrid electric vehicle. The converter consists of a unidirectional Γ Z-source converter and a bidirectional DC-DC converter. By controlling the voltage of the Z source capacitor and the modulation index of the inverter, the power flow between the fuel cell, battery and the load can be controlled flexibly. The different operation modes of the system and the power flow control strategies are analysed. To verify the validity of the proposed power converter topology and the control methods, system simulation model is developed in Matlab/Simulink environment. In addition, the simulation model is also implemented in the RT-LAB real-time simulator. The simulation results demonstrated the feasibility of the proposed methods.

关键词： Inverters Batteries Fuel cells Hybrid power systems Load modeling control systems Real-time systems

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Cyclic scheduling of multimodal concurrently flowing processes

Cyclic scheduling of multimodal concurrently flowing process...

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International Conference on Systems Science, ICSS 2013

作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew Koszalin University of Technology Dept. of Computer Science and Management ul. Sniadeckich 2 Koszalin75-453 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Warsaw University of Technology Dept. of Business Informatics Warsaw Poland

ISBN: (纸本)9783319018560

The problem of cyclic scheduling of multimodal concurrent processes (MCPs) is considered. Processes composed of sub-sequences of local cyclic processes (LCPs) are treated as multimodal processes, e.g. in case local processes encompass the subway lines network the relevant multimodal processes can be seen as passengers traveling itineraries this network. Since LCPs network implies a MCPs behavior, the following fundamental questions arise: Does the given LCPs network guarantee an assumed cyclic schedule of the MCPs at hand? Does there exist the LCPs network such that an assumed cyclic schedule of MCPs can be achieved? In that context our contribution is to propose a declarative framework allowing one to take into account both direct and reverse problems formulation. © Springer International Publishing Switzerland 2014.

关键词： Scheduling

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Kinematic evaluation of articulated rigid objects

Kinematic evaluation of articulated rigid objects

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Adrian Burlacu Daniel Condurache Eduard Clim Dept. of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania Dept. of Theoretical Mechanics “Gheorghe Asachi” Technical University of Iasi Romania

This research is focused on providing solutions for kinematic evaluation of articulated rigid objects when noisy data is available. Recent results proposed different techniques which necessitate learning stages or large relative motions. Our approach starts from a complete analytical solution which uses only point and line features to parametrize the rigid motion. This analytical solution is built using orthogonal dual tensors generated by rigid basis of dual vectors. Next, the necessary transformations are added to the theoretical solution so it can be used with noisy data input. Thus, the computational procedure is revealed and different experiments are presented in order to underline the advantages of the proposed approach.

关键词： Tensile stress Vectors Kinematics Noise measurement Matrix decomposition Joints Image color analysis

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Design of robust observers for positive delayed interval systems

Design of robust observers for positive delayed interval sys...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Ines Zaidi Mohamed Chaabane Fernando Tadeo Dept. of Systems Engineering and Automatic University of Valladolid Valladolid Spain Dept. of Control of Industrial Processes University of Sfax Sfax Tunisia

This paper is concerned with the design of positive observers for positive interval systems with time delay. For that, a solution based on LMI programming is provided to the problem of designing observers that ensure guaranteed bounds on the estimated states that are nonnegative whenever the initial conditions are nonnegative. Furthermore, it is revealed that an unstable positive system cannot be positively stabilized without taking into account the positivity of the dynamic errors. Then, the problem of positive stabilization by dynamic feedback controllers based observer is investigated, taking into account that the positivity of the error signals is necessary to stabilize a positive system and keep it positive at the same time. We derive then necessary and sufficient conditions for the existence of positive observers and show that the solvability can be decided via LMI (Linear Matrix Inequalities) programming techniques.

关键词： Indexes control systems Delays Artificial intelligence

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QoS aware platform for dependable sensory environments

QoS aware platform for dependable sensory environments

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IEEE International Conference on Multimedia and Expo Workshops (ICMEW)

作者： Aitor Agirre Jorge Parra Elisabet Estévez Marga Marcos IK4-Ikerlan Arrasate Spain Dept. of Electronics and Automatic Engineering Universidad de Jaén Jaén Spain Dept. of Automatic Control and Systems Engineering UPV/EHU Bilbao Spain

ISBN: (纸本)9781479947164

Sensory environments for healthcare are commonplace nowadays. A patient monitoring system in such an environment deals with sensor data capture, transmission and processing in order to provide on-the-spot support for monitoring the vulnerable and critical patient. A fault in such a system can be hazardous on the health of the patient. Therefore, such a system must be dependable and ensure reliability, fault-tolerance, safety and other critical aspects, in order to deploy it in real scenario. This paper encounters some of these issues and proposes a component platform to develop a flexible framework with specific support for fault tolerance and safe inter-component communication related QoS aspects. The platform adopts the Service Component Architecture (SCA) model and defines a Data Distribution Service (DDS) binding, which provides the fault tolerance and the required safety-ensuring techniques and measures, as defined in the IEC 61784-3-3 standard.

关键词： Safety Quality of service Fault tolerance Fault tolerant systems Middleware Standards Medical services

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Recursive estimation of selective catalyst reduction system parameters using modified Gauss-Newton method

Recursive estimation of selective catalyst reduction system ...

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2014 American control Conference, ACC 2014

作者： He, Fei Guan, Xiaohong Grimble, Mike Sun, Min Clegg, Andy Industrial Control Centre Dept. of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XQ United Kingdom Industrial Systems and Control Ltd Culzean House 36 Renfield Street Glasgow G2 1LU United Kingdom Powertrain Advanced Controls General Motors United States Dept. of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781479932726

Selective catalytic reduction (SCR) system is a complex chemical process which is used to treat exhaust gas in many applications, e.g. diesel engines in automobiles. An SCR model was constructed by General Motors (GM) and the problem considered was to estimate the unknown kinetic parameters on-line taking into account aging effects. There are a number of application constraints that must be taken into consideration, including inaccessible model structure, parametric identifiability difficulties and limited measurement data. In this work, the complexity and identifiability of this estimation problem is investigated through global sensitivity analysis and cost-function based analysis methods. One of the problems is to determine the parameters where the model is most sensitive and should thus be estimated onboard. A modified Gauss-Newton method was proposed and evaluated for this estimation problem. Simulation studies have confirmed that sensitive kinetic parameters of the SCR model can be estimated and tracked recursively using the proposed method. © 2014 American automatic control Council.

关键词： Selective catalytic reduction

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A Model-based Approach for Achieving Available Automation Systems

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IFAC Proceedings Volumes 2014年第3期47卷 3438-3443页

作者： R. Priego A. Armentia D. Orive E. Estévez M. Marcos University of the Basque Country Department of System Engineering and Automatics Bilbao 48013 Spain Universidad de Jaén Dept. Of Electronics and Automatic Control Jaen Spain

Nowadays automation systems are required to be flexible in order to cope with the ever changing requirements of the applications in terms of complexity, extensibility or dynamism. The use of reconfiguration techniques helps to meet these demanding requirements, but at the same time increase the complexity of the systems. This paper presents a supervisor architecture that allows maintaining the availability of a control system in spite of failures such as a node crash, by means of reconfigurations at the control level. To do this, the advantages that Model-Driven Development technology provides have been explored.

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ANFIS based Jacobian for a parallel manipulator mobility assistive device 10

ANFIS based Jacobian for a parallel manipulator mobility ass...

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10th UKACC International Conference on control, control 2014

作者： Asker, Ahmed Salah, Omar Fath El-Bab, Ahmed M. R. Ramadan, Ahmed A. Assal, Samy M. F. Sessa, Salvatore Abo-Ismail, Ahmed School of Innovative Design Engineering Egypt-Japan University for Science and Technology E-JUST New-Borg-El-Arab-City-Alexandria Egypt Mechanical Engineering Dept Faculty of Engineering Assiut University Assiut Egypt Dept. of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Tanta Egypt Computer and Automatic Control Dept Faculty of Engineering Tanta University Tanta Egypt Graduate School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781479950119

Nowadays parallel manipulators are used widely in bioengineering applications;this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. Computer simulations show relatively good results of the proposed system. © 2014 IEEE.

关键词： Inverse kinematics

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A Single-phase Rectifier with a Neutral Leg to Reduce DC-bus Voltage Ripples

A Single-phase Rectifier with a Neutral Leg to Reduce DC-bus...

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IEEE Energy Conversion Congress and Exposition

作者： Wen-Long Ming Qing-Chang Zhong Wanxing Sheng Dept. of Automatic Control and Systems Engineering The University of Sheffield United Kingdom Dept. of Power Distribution China Electric Power Research Institute Beijing 100192 China

ISBN: (纸本)9781479957774

The voltage ripples of the half-bridge rectifier lead to the requirement on bulky electrolytic capacitors and voltage difference on the split capacitors. In this paper, a topology for a single-phase rectifier is proposed to reduce the DC-bus voltage ripples and voltage difference without using electrolytic capacitors. The proposed rectifier contains two legs: 1) A rectification leg to maintain the DC-bus voltage and to draw a clean input current with unity power factor;2) A neutral leg to reduce DC-bus voltage ripples and the voltage difference. The two legs are independently controlled and the resulted high performance of the system is achieved. In order to test the system, real-time simulations were conducted and associated results are presented to demonstrate that the system is able to considerably reduce the DC-bus voltage ripples. With the derived system, the total required DC-bus capacitors can be reduced a lot when achieving the same level of voltage ripples.

关键词： Capacitors Voltage control Topology Integrated circuit modeling Legged locomotion Real-time systems

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