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Engineering, Control & Systems Engineering; Control as a Service; Cloud Computing; Cloud Manufacturing; Additive Manufacturing; Smart Manufacturing; Industry 4.0; Internet of Things
Online: 13 August 2018 (17:04:45 CEST)
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Control as a Service (CaaS) is an emerging paradigm where low-level control of a device is moved from a local controller to the Cloud, and provided to the device as an on-demand service. Among its many benefits, CaaS gives the device access to advanced control algorithms which may not be executable on a local controller due to computational limitations. As a step toward 3D printer CaaS, this paper demonstrates the control of a 3D printer by streaming low-level stepper motor commands (as opposed to high-level G-codes) directly from the Cloud to the printer. The printer is located at the University of Michigan, Ann Arbor, while its stepper motor commands are calculated using an advanced motion control algorithm running on Google Cloud computers in South Carolina and Australia. The stepper motor commands are sent over the Internet using the user datagram protocol (UDP) and buffered to mitigate transmission delays; checks are included to ensure accuracy and completeness of the transmitted data. All but one part printed using the cloud-based controller in both locations were hitch free (i.e., no pauses due to excessive transmission delays). Moreover, using the cloud-based controller, the parts printed up to 54% faster than using a standard local controller, without loss of accuracy.
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Engineering, Control & Systems Engineering; photoplethysmography (PPG); respiration rate; information filter
Online: 8 August 2018 (06:09:31 CEST)
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In this work, an algorithm was developed to measure the respiration rate for an embedded device that can be used by a field robot for relief operation. With this algorithm, the rate measurement was calculated based on direct influences of respiratory-induced intensity variation (RIIV) on blood flow in cardiovascular pathways. For that, a photoplethysmogram (PPG) sensor was used to determine changes in heartbeat frequencies. The PPG sensor readings were filtered using an Information Filter and a Fast Fourier transform (FFT) to determine the state of RIIV. With a relatively light initialization, the information filter can estimate unknown variables based on a series of measurements containing noise and other inaccuraties. Therefore, this filter is suitable for application on an embedded device. For faster calculation time in the implementation, the FFT analysis was calculated only for a major peak in the frequency domain. Test and measurement of respiration rate was conducted based on the device algorithm and spirometer. Heartbeat measurement was also evaluated by comparing the heartbeat data of the PPG sensor and the medical tool kit. Based on the test, the implemented algorithm can measure respiration rate with about 80% accuracy compared with the spirometer.
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Engineering, Control & Systems Engineering; H-infinity control; vibration; stability; structured uncertainties; frequency analysis; robustness; µ-analysis
Online: 7 August 2018 (10:44:17 CEST)
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The research paper focuses on studying the robust stability and performance of suboptimal H_∞ control on mass-spring-dashpot systems subject to parametric uncertainty and external disturbance on output response. The objective is keeping the vertical oscillation of the system constant under uncertainty and disturbance. For the control system to achieve satisfactory performance, suitable weighting filter functions for performance and control effort were designed respectively. Model order reduction for the synthesized controller based on Hankel norm approximation was conducted where a third order controller is obtained. Numerical results based on µ-analysis, frequency response and transient response show that the closed-system achieved robust stability and robust performance to parametric uncertainty and disturbance at all frequencies over the entire frequency bandwidth of study.
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Engineering, Control & Systems Engineering; HVAC model predictive control, demand response, EnergyPlus, particle swarm optimization (PSO), renewable energy, smart grids
Online: 6 August 2018 (12:17:10 CEST)
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A new model predictive control (MPC) algorithm is used to select optimal air conditioning setpoints for a commercial office building, considering variable electricity prices, weather, occupancy and lighting. This algorithm, Cost-Comfort Particle Swarm Optimization (CCPSO), is the first to combine a realistic, smooth representation of occupants’ willingness to pay for thermal comfort with a bottom-up, non-linear model of the building and air conditioning system under control. We find that using a quadratic preference function for temperature can yield solutions that are both more comfortable and lower-cost than previous work that used a ``brick wall'' preference function with no preference for further cooling within an allowed temperature band and infinite aversion to going outside the allowed band. Using historical pricing data for a summer month in Chicago, CCPSO provided a 3\% reduction in costs vs. a ``brick-wall'' MPC approach with similar comfort and 13\% reduction in costs vs. a standard night setback strategy. CCPSO also reduced peak-hours demand by 3\% vs. the ``brick-wall'' strategy and 15\% vs. standard night-setback. At the same time, the CCPSO strategy increased off-peak energy consumption by 15\% vs. the ``brick-wall'' strategy. This may be valuable for power systems integrating large amounts of renewable power, which can otherwise become uneconomic due to saturation of demand during off-peak hours.
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Engineering, Control & Systems Engineering; Wireless Ringer’s solution monitoring and alarm system; Al load cell; Wheatstone bridge; Static analysis; Modal analysis; Harmonic analysis; Vibrational error
Online: 24 July 2018 (11:32:36 CEST)
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In this study, we developed an aluminum-load-cell-based wireless Ringer’s solution monitoring and alarm (WRMA) system. The Al load cell was designed with a rectangular shape, and the load was concentrated in the lower beam part of the load cell because of the anisotropic thickness. From the static analysis, we identified the appropriate location for a Wheatstone bridge circuit consisting of four strain gauges. In addition, the modal and harmonic analyses showed that the vibrational frequencies of the hospital environment do not seriously interfere with the output voltage of the Al load cell. However, random vibrations generated by the movement of the WRMA system on various surfaces severely increase the standard deviation of the measured solution weight by 10 g or more. Such vibrational error is too large because the average weight of Ringer’s solution is 30–40 g at the time of replacing Ringer’s solution. Thus, this error could be confusing for nurses and result in mistakes in the timely replacement of the Ringer’s solution. However, the standard deviation of the measured weight was dramatically reduced to +/-3 g or less by using the vibration correction algorithm developed in the present study.
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Engineering, Control & Systems Engineering; body of knowledge; BOK description; BOK model; curriculum; education; systematic literature review; stakeholders
Online: 19 July 2018 (06:41:00 CEST)
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In this paper, a Systematic Literature Review (SLR) on Bodies of Knowledge (BOK) was carried out. Also, the theorical base to build a model for knowledge representation was created. In addition, it was found that there is a lack of guidelines to describe knowledge representation, because of the dramatically increasing number of requirements to produce a BOK, the difficulty with comparing related BOK contents, and the fact that reusing knowledge description is a very laborious task. In short, this paper can be seeing as a first step in building a model that can be used for describing knowledge description in BOK. Finally, a comparison among BOK, structure, and evolution was conducted. The results of this comparative analysis were satisfactory, allowing to determine the elements with greatest influence in the process of describing a BOK to applied on sustainability educational context and base to improve a curriculum.
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Engineering, Control & Systems Engineering; surface electromyography; computer vision; grasping; assistive robotics
Online: 27 June 2018 (15:01:06 CEST)
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This paper presents a system that merges computer vision and surface electromyography techniques to carry out grasping tasks. To perform this, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases by around a 9% the grasping accuracy of previous experiments in which electromyographic control was not implemented.
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Engineering, Control & Systems Engineering; Quadrotor; trajectory tracking control; PID control; iterative learning algorithm.
Online: 18 June 2018 (13:43:18 CEST)
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This paper presents a new adaptive and optimal algorithm for the trajectory tracking control of a quadrotor using iterative learning algorithm (ILA) and enumerative learning algorithm. Ordinarily the ILA, as an adaptive method, can perform well with PID control to improve the controller’s performance for a nonlinear system. Quadrotors are considered as non-linear and unstable systems which the use of an adaptive and optimal controller can increase its stability and decrease error level. In this method, a PID controller is proposed for the outer and inner control loops of a quadrotor and the ILA is used to adapt PID control gains. Subsequently, an enumerative learning algorithm is used to optimize the learning rates of the ILA. For this purpose, at first, the dynamic model of the quadrotor is acquired. After that, the structure of the inner and outer control loops is defined. In the end, the simulation results for the trajectory tracking control of a quadrotor are demonstrated. Through simulation, it is concluded that as time increases, the performance of the suggested control method in trajectory tracking control becomes better and better and error signals convergence to zero.
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Engineering, Control & Systems Engineering; power plants; supervisory control; dynamic simulation; dynamic optimization
Online: 5 June 2018 (08:13:42 CEST)
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The increasing variability in power plant load, in response to a wildly uncertain electricity market and the need to to mitigate CO2 emissions, lead power plant operators to explore advanced options for efficiency optimization. Model-based, system-scale dynamic simulation and optimization are useful tools in this effort, and the subject of the work presented here. In prior work, a dynamic model validated against steady-state data from a 605 MW subcritical power plant was presented. This power plant model is used as a test-bed for dynamic simulations, in which the coal load is regulated to satisfy a varying power demand. Plant-level control regulates plant load to match an anticipated trajectory of the power demand. The efficiency of the power plant operating at varying load is optimized through a supervisory control architecture that performs set point optimization on the regulatory controllers. Dynamic optimization problems are formulated to search for optimal time-varying input trajectories that satisfy operability and safety constraints during the transition between plant states. An improvement in time-averaged efficiency of up to 1.8% points is shown feasible with corresponding savings in coal consumption of 184.8 tons/day and carbon footprint decrease of 0.035 kg/kWh.
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Engineering, Control & Systems Engineering; trajectory; chaos; josephson junction; RCL-shunted; iterative learning control (ILC)
Online: 1 June 2018 (06:02:52 CEST)
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This article addresses the trajectory tracking between two non-identical systems with chaotic properties. We employ the Rossler chaotic and RCL-shunted Josephson junctions model in similar phase space to study trajectory tracking. In order to achieve the goal tracking, we afford two stages to approximate the target tracking. The first stage utilizes the active control technique to transfer the output signal from the RCLs-J system into the quasi-Rossler system. Then next, the RCLs-J system employs the proposed the iterative learning control scheme and the control signal from the drive system to trace the trajectory of Rossler system. The numerical results demonstrate the proposed method and the tracking system is asymptotically stable.
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Engineering, Control & Systems Engineering; real monitoring; energy efficiency management system; wsan; majmaah university
Online: 31 May 2018 (11:58:31 CEST)
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This research presents alternative solutions for an Energy Efficiency Management System (EEMS) serving as a framework for optimizing the energy consumption algorithm and lowering energy consumption. First, a monitoring Wireless Sensor and Actuator Network (WSAN) is used for sensing, measuring, gathering data, and modeling all the dynamic disturbance parameters of the rooms in the building. Second, integrated software for metering and controlling the processes of digital data flow is used. Third, an alternative solution is proposed to reduce energy consumption. The primary benefits of this system are real-time monitoring; rapid, alternative solutions; and the ability to make a prudent decision on how to lower energy consumption. The system shows instant and accumulated solutions for short and long-term time planning. The solutions identified can be implemented in the same buildings under the same circumstances. The universities of Majmaah and Philadelphia have buildings with similar infrastructure. The system was applied to the buildings at Philadelphia University. The results were generalized to both universities. After implementation, the energy consumption of the EEMS using WSAN (based on the monitoring was reduced up to 23% when compared to that of the initial state.
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Engineering, Control & Systems Engineering; integrated guidance and autopilot; neural network; extended state observer; command filter; back-stepping control
Online: 16 May 2018 (05:48:05 CEST)
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This paper focuses on the integrated guidance and autopilot design with control input saturation in the end-game phase of hypersonic flight. Firstly, uncertain nonlinear integrated guidance and autopilot model is developed with third actuator dynamics, where the control surface deflection has magnitude constraint. Secondly, neural network is implemented in extended state observer (ESO) design, which is used to estimate the complex model uncertainty, nonlinearity and state coupling. Thirdly, a command filtered back-stepping controller is designed with hybrid sliding surfaces to improve the terminal performance. In the process, different command filters are implemented to avoid the influences of disturbances and repetitive derivation, meanwhile solve the problem of unknown control direction caused by saturation. The stability of closed-loop system is proved by Lyapunov theory, and the principles abided by the controller parameters are concluded through the proof. Finally, series of 6-DOF numerical simulations are presented to show the feasibility and validity of the proposed controller.
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Engineering, Control & Systems Engineering; Signal Processing; Fourier Series; State Observer; Short Time Fourier Transform; Time-Frequency Analysis
Online: 26 April 2018 (07:53:32 CEST)
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The principal aim of a spectral observer is twofold: the reconstruction of a signal of time via state estimation and the decomposition of such a signal into the frequencies that make it up. A spectral observer can be catalogued as an online algorithm for time-frequency analysis because is a method that can compute on the fly the Fourier transform (FT) of a signal, without having the entire signal available from the start. In this regard, this paper presents a novel spectral observer with an adjustable constant gain for reconstructing a given signal by means of the recursive identification of the coefficients of a Fourier series. The reconstruction or estimation of a signal in the context of this work means to find the coefficients of a linear combination of sines a cosines that fits a signal such that it can be reproduced. The design procedure of the spectral observer is presented along with the following applications: (1) the reconstruction of a simple periodical signal, (2) the approximation of both a square and a triangular signal, (3) the edge detection in signals by using the Fourier coefficients, (4) the fitting of the historical Bitcoin market data from 2014-12-01 to 2018-01-08 and (5) the estimation of a input force acting upon a Duffing oscillator. To round out this paper, we present a detailed discussion about the results of the applications as well as a comparative analysis of the proposed spectral observer vis-à-vis the Short Time Fourier Transform (STFT), which is a well-known method for time-frequency analysis.
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Engineering, Control & Systems Engineering; switched reluctance motor (SRM); torque-speed performance; drive efficiency; torque sharing function (TSF)
Online: 19 April 2018 (09:59:17 CEST)
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In this paper, by evaluating extreme value of the qth-power current, a torque sharing function (TSF) family for reducing the torque ripples in the switched reluctance motor (SRM) is proposed. The optimization criteria of the TSF has two secondary objectives, including the maximization of the torque-speed range and the minimization of copper loss. The evaluation indices in terms of the peak phase current, the rms phase current, and the torque ripple factor are compared between the proposed TSF family and four conventional TSFs including linear, sinusoidal, exponential, and cubic TSFs. An optimization objective function that combines the maximum absolute value of the rate-of-change of the flux linkage (MAV-RCFL) and the qth-power of current is proposed and a weighting factor is used to balance the influence of the two optimization objectives. An optimal TSF can be easily obtained by solving the optimization problem from the TSF family. The proposed TSF is validated by using simulations and experiments with a three-phase 6/4 SRM with 7.5 kW, 3000 rpm, and 270 V DC-link voltage. The dynamic simulation model is implemented in Matlab/Simulink. The results demonstrate the validity and superiority of the proposed control method; the optimal TSF provides better torque-speed performance, and a better reduction in copper loss and torque ripples at high speed compared to the conventional TSFs obviously.
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Engineering, Control & Systems Engineering; landing; aircraft carrier; landing path; fuzziness; fuzzy multi-attribute group decision making
Online: 16 April 2018 (09:45:26 CEST)
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Landing is one of the most dangerous tasks in all the operations on the aircraft carrier, and the landing safety is very important to the pilot and the flight deck operation. The problem of landing path selection is studied in this paper as there several candidates corresponding to different situations. A fuzzy path selection strategy is proposed to solve the problem considering the fuzziness of environmental information and human judgment, and the goal is to provide the pilot with more reasonable decision. The strategy is based on Fuzzy Multi-attribute Group Decision Making (FMAGDM), which has been widely used in industry. Firstly, the background of the path selection problem is given. Then the essential elements of the problem are abstracted to build the conceptual model. A group decision-making method is applied to denote the preference of each decision maker for each alternative route, and the optimal landing path under the current environment is determined taking into account the knowledge and the weight of both decision makers. Experimental studies under different setups, i.e., different environments, are carried out. The results demonstrate that the proposed path selection strategy is validated in different environments, and the optimal landing paths corresponding to different environments can be determined.
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Engineering, Control & Systems Engineering; Topological-entropy; Chaos; Fractional-order; Computer-assisted proof; Topological Horseshoe Analysis; FPGA
Online: 10 April 2018 (15:41:39 CEST)
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This paper first discusses a fractional-order Liu system of order as low as 2.7 and shows its chaotic characteristics by carrying out numerical simulations such as Lyapunov exponents, bifurcation diagrams and phase portraits. Then, by using the topological horseshoe theory and computer-assisted proof, the existence of chaos in the system is verified theoretically. Finally, the fractional-order system is implemented on a Field Programmable Gate Array (FPGA) and the results obtained show that the fractional-order Liu system is indeed chaotic.
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Engineering, Control & Systems Engineering; weighted centroid; signal intensity; attenuation model; combined model
Online: 16 March 2018 (04:23:19 CET)
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Aiming at the defects of low precision and time cumulative error, an external wireless signal weighted centroid localization algorithm aided inertial positioning method is designed in this paper. According to the signal strength of each anchor node received at the test point, the distance between the anchor node and the anchor node is obtained by using the attenuation model of the wireless signal. Three anchor nodes are used to measure the distance between the anchor node and the measured point. We can obtain the area to be measured according to the actual situation, the position of the measured point is obtained by the weighted centroid localization algorithm and a combined model of wireless signal aided inertial navigation system is established. The simulation results show that the method can greatly improve the positioning accuracy and restrain the divergence of the longitude error and latitude error.
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Engineering, Control & Systems Engineering; linear regression; covariance matrix; data association; sensor fusing; SLAM
Online: 13 March 2018 (04:06:56 CET)
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Linear regression is a basic tool in mobile robotics, since it enables accurate estimation of straight lines from range-bearing scans or in digital images, which is a prerequisite for reliable data association and sensor fusing in the context of feature-based SLAM. This paper discusses, extends and compares existing algorithms for line fitting applicable also in case of strong covariances between the coordinates at each single data point, which must not be neglected if range-bearing sensors are used. Besides, particularly the determination of the covariance matrix is considered, which is required for stochastic modeling. The main contribution is a new error model of straight lines in closed form for calculating fast and reliably the covariance matrix dependent on just a few comprehensible and easily obtainable parameters. The model can be applied widely in any case when a line is fitted from a number of distinct points also without a-priori knowledge of the specific measurement noise. By means of extensive simulations the performance and robustness of the new model in comparison to existing approaches is shown.
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Engineering, Control & Systems Engineering; wind turbine; LPV; DOBC; multivariable
Online: 24 January 2018 (07:03:52 CET)
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This paper is concerned with bump-less transfer of parametrized disturbance observer based controller (DOBC) with Individual Pitch Control (IPC) strategy for full load operation of wind turbine. Aerodynamic cyclic loads are reduced by tuning multivariable DOBC with the objective to reduce output power fluctuation, tower oscillation and drive-train torsion. Furthermore tower shadow and wind shear effect are also mitigated using parametrized controller. A scheduling mechanism between two DOBC is developed and tested on Fatigue, Aerodynamics, Structures, and Turbulence ( FAST) code model of National Renewable Energy Laboratory (NREL)’s 5 MW wind turbine. The closed-loop system performance is assessed by comparing the simulation results of proposed controller with a fixed gain and Linear Parameter Varying (LPV) DOBC with Collective Pitch Control (CPC) for full load operation. It is tested with step changing wind to see the behavior of the system under step change with wind shear and tower shadow (cyclic load) effects. Also turbulent wind is applied to see the smooth transition of the controllers. It can be concluded from the results that the proposed parametrized control DOBC with IPC shows smooth transition from one controller to another by interpolation. Moreover fatigue of the gear and tower due to wind shear and tower shadow effects are reduced considerably by the proposed controller as compared to collective pitch control.
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Engineering, Control & Systems Engineering; dam; monitoring; GNSS; predictive modeling; collimators; pendulum
Online: 23 January 2018 (05:22:59 CET)
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GNSS receivers are nowadays commonly used in monitoring applications, e.g., in estimating crustal and infrastructure deformations. This is basically due to the recent improvements in GNSS instruments and methodologies that allow high precision positioning, 24 h availability and semiautomatic data processing. In this paper, GNSS estimated deformations on a dam structure have been analyzed and compared with pendulum data. This study has been carried out for the Eleonora D’Arborea (Cantoniera) dam, which is in the Sardinia Island. Time series of pendulum and GNSS over a time span of 2.5 years have been aligned so to be comparable. Analytical models fitting these time series have been estimated and compared. Those models were able to properly fit pendulum data and GNSS data, with standard deviation of residuals smaller than one millimeter. This encouraging results led to the conclusion that GNSS technique can be profitably applied to dam monitoring allowing a denser description, both in space and time, of the dam displacements than the one based on pendulum observations.
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Engineering, Control & Systems Engineering; distillation column; disturbance rejection; genetic algorithm; H∞ control; linear matrix inequalities; static output feedback
Online: 26 December 2017 (05:22:09 CET)
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The current work addresses the control of two-input two-output (TITO) Wood and Berry model of a binary distillation column. The controller design problem is formulated in terms of multivariable H∞ control synthesis. The controller structure takes the form of simplest static output feedback (SOF) control. The controller synthesis is performed using a hybrid approach of blending linear matrix inequalities (LMI) and genetic algorithm (GA). The performance of the static output feedback controller is compared with three other controllers designed for Wood and Berry model available in the literature. The first simulation study is performed for the case of tracking a unit step command in the presence of a step change in output disturbance. A second simulation study is performed for rejecting a change in sinusoidal output disturbance.
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Engineering, Control & Systems Engineering; photovoltaic (PV),; maximum power point tracking (MPPT); doubly-fed induction generator (DFIG)
Online: 26 November 2017 (13:35:23 CET)
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In this paper, an extensive study on the operation, control and performance of a hybrid photovoltaic and wind turbine (PV-WT) system is presented. The study includes the operation of the hybrid systems under different weather conditions which are reflected on a change in the wind speed and irradiance. Various loading conditions are investigated such a change in active and reactive power demands for static and dynamic loads. The performance of the hybrid system is examined via MATLAB/SIMULINK simulations.
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Engineering, Control & Systems Engineering; electrothermal micromirror; robust control; bimorph actuator modeling; active tilting rejection; Fourier transform spectrometer
Online: 10 November 2017 (10:39:02 CET)
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Incorporating linear-scanning MEMS micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS) possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and PID closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with an FWHM spectral linewidth of 96 cm-1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.
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Engineering, Control & Systems Engineering; synchronization; chaos; chaotic system; Iterative Learning Control (ILC); Lyapunov function; error convergent
Online: 1 November 2017 (05:45:02 CET)
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This research not only dedicated a less restrictive method of iteration-varying function for a learning control law to design a controller but also synchronize two nonlinear systems with free time-delay. In addition, the mathematical theory of system synchronization has proved rigorously and the theory verified through an example to demonstrate the behavior of each parameter in the theory. The design of a controller using the iterative learning control law is significant for robotic tracking. The controller in this research generates a feed-forward control input using the error dynamics among the drive-response systems. The error dynamics satisfies the Lyapunov function and the combination of output errors, which respectively represented relative estimated differences of the drive-response systems. The iterative learning control rule serves the function of a filter adding previous control error after the end of each iteration. The numerical example of a synchronous system is given a Lorenz system for driving and another with the iterative learning control law for response under different initial condition. The results verify and demonstrate the proposed mathematical theory. The simulation exhibits consistency in the behavior of each parameter to match mathematical theory.
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Engineering, Control & Systems Engineering; Vertical coal bunker; Coal given chamber; Floor heave; Wall-mounted coal bunker; Reinforcement; Self-bearing system
Online: 20 October 2017 (15:31:57 CEST)
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Serious damage caused by floor heave in the coal given chamber of a vertical coal bunker is one of the challenges faced in underground coal mines. Engineering practice shows that it is more difficult to maintain the coal given chamber (CGC) than a roadway. More importantly, repairing the CGC during mining practice will pose major safety risks and reduce production. Based on the case of the serious collapse that occurred in the bearing structure of the CGC at the lower part of the 214# coal bunker in Xiashijie mine, China, this work analysed (i) the main factors influencing floor heave and (ii) the failure mechanism of the load-bearing structure in the CGC using FLAC2D numerical models and expansion experiment. The analysis results indicate that: the floor heave, caused mainly by mine water, is the basic reason leading to the instability and repeated failure of the CGC in the 214# coal bunker. Then a new coal bunker, without building the CGC, is proposed and put into practice to replace the 214# coal bunker. The FLAC3D software program is adopted to establish the numerical model of the wall-mounted coal bunker (WMCB), and the stability of the rock surrounding the WMCB is simulated and analysed. The results show that: (1) the rock surrounding the sandstone segment is basically stable. (2) The surrounding rock in the coal seam segment, which moves into the inside of the bunker, is the main zone of deformation for the entire rock mass surrounding the bunker. Then the surrounding rock is controlled effectively by means of high-strength bolt–cable combined supporting technology. According to the geological conditions of the WMCB, the self-bearing system, which includes (i) H-steel beams, (ii) H-steel brackets, and (iii) self-locking anchor cables, is established and serves as a substitute for the CGC to transfer the whole weight of the bunker to stable surrounding rock. The stability of the new coal bunker has been verified by field testing, and the coal mine has gained economic benefit to a value of 158.026174 million RMB over three years. The new WMCB thus made production more effective and can provide helpful references for construction of vertical bunkers under similar geological conditions.
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Engineering, Control & Systems Engineering; Grey relational analysis (GRA); Hesitant Fuzzy Sets (HFSs); Interval-valued hesitant fuzzy sets (IVHFS); grey relational degree; grey relational based MADM methodology
Online: 17 October 2017 (12:35:18 CEST)
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Quantitative and qualitative fuzzy measures have been proposed to hesitant fuzzy sets (HFSs) from different points. However, few of the existing HFSs fuzzy measures refer to the grey relational analysis (GRA) theory. Actually, the GRA theory is very useful in the fuzzy measure domain, which has been developed for such the intuitionistic fuzzy sets. Therefore, in this paper, we apply the GRA theory to the HFSs and interval-valued hesitant fuzzy sets (IVHFS) domain. We propose the HFSs grey relational degree, HFSs slope grey relational degree, HFSs synthetic grey relational degree and IVHFSs grey relational degree, which describe the closeness, the variation tendency and both the closeness and variation tendency of HFSs and closeness of IVHFSs, respectively, greatly enriching the fuzzy measures of HFSs. Furthermore, with the help of the TOPSIS method, we develop the grey relational based MADM methodology to solve the HFSs and IVHFSs MADM problems. Finally, combined with two practical MADM examples about energy policy selection with HFSs information and emergency management evaluation with IVHFSs information, we obtain the most desirable decision results, and compared with the previous methods, the validity, effectiveness and accuracy of the proposed grey relational degree for HFSs and IVHFSs are demonstrated in detail.
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Engineering, Control & Systems Engineering; Wind turbine simulator; data-driven and model-based approaches; fuzzy identification; on-line estimation; robustness and reliability
Online: 19 September 2017 (15:47:14 CEST)
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Wind turbine plants are complex dynamic and uncertain processes driven by stochastic inputs and disturbances, as well as different loads represented by gyroscopic, centrifugal, and gravitational forces. Moreover, as their aerodynamic models are nonlinear, both modelling and control become challenging problems. On one hand, high-fidelity simulators should contain different parameters and variables in order to accurately describe the main dynamic system behaviour. Therefore, the development of modelling and control for wind turbine systems should consider these complexity aspects. On the other hand, these control solutions have to include the main wind turbine dynamic characteristics without becoming too complicated. The main point of this paper is thus to provide two practical examples of development of robust control strategies when applied to a simulated wind turbine plant. Experiments with the wind turbine simulator and the Monte–Carlo tools represent the instruments for assessing the robustness and reliability aspects of the developed control methodologies when the model-reality mismatch and measurement errors are also considered. Advantages and drawbacks of these regulation methods are also highlighted with respect to different control strategies via proper performance metrics.
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Engineering, Control & Systems Engineering; Data Distribution; Multi-Path; RPL; Wireless Sensor Network
Online: 18 September 2017 (17:36:09 CEST)
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The RPL protocol is a routing protocol for low power and lossy networks. In such a network, energy is a very scarce resource; so many studies are focused on minimizing global energy consumption. End-to-end latency is another important performance indicator of the network, but existing research tends to focus more on energy consumption and ignore the end-to-end delay of data transmission. In this paper, we propose a kind of energy equalization routing protocol to maximize the surviving time of the restricted nodes so that the energy consumed by each node is close to each other. At the same time, a multi-path forwarding route is proposed based on the cache utilization. The data is sent to the sink node through different parent nodes at a certain probability, not only by selecting the preferred parent node, thus avoiding buffer overflow and reducing end-to-end delay. Finally, the two algorithms are combined to accommodate different application scenarios. The experimental results show that the proposed three improved schemes improve the reliability of the routing, extend the lifetime of the network, reduce the end-to-end delay, and reduce the number of DAG reconfiguration.
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Engineering, Control & Systems Engineering; Passive Sonar; Target Detection; Adaptive Threshold; Bayesian Classifier; K-Mean; Particle Filter
Online: 18 September 2017 (17:04:13 CEST)
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This paper presents the results of an experimental investigation about target detecting with passive sonar in Persian Gulf. Detecting propagated sounds in the water is one of the basic challenges of the researchers in sonar field. This challenge will be complex in shallow water (like Persian Gulf) and noise less vessels. Generally, in passive sonar the targets are detected by sonar equation (with constant threshold) which increase the detection error in shallow water. Purpose of this study is proposed a new method for detecting targets in passive sonars using adaptive threshold. In this method, target signal (sound) is processed in time and frequency domain. For classifying, Bayesian classification is used and prior distribution is estimated by Maximum Likelihood algorithm. Finally, target was detected by combining the detection points in both domains using LMS adaptive filter. Results of this paper has showed that proposed method has improved true detection rate about 27% compare other the best detection method.
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Engineering, Control & Systems Engineering; wind turbines; hydroelectric systems; nonlinear modelling; model--based control; data--driven approach; advanced control; robustness and reliability
Online: 9 August 2017 (04:42:58 CEST)
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Increasingly, there is a focus on utilising renewable energy resources in a bid to fulfil increasing energy requirements and mitigate the climate change impacts of fossil fuels. While most renewable resources are free, the technology used to usefully convert such resources is not and there is an increasing focus on improving the conversion economy and efficiency. To this end, advanced control technologies can have a significant impact and is already a relatively mature technology for wind turbines. Though hydroelectric plants can use simple regulation systems, significant benefits have been shown to accrue from the appropriate use of the same control methods designed for wind turbine plants. This represents the key point of the paper. In fact, to date, the application communities connected with wind and hydraulic energies have had little communication, resulting in little cross fertilisation of control ideas and experience, particularly from the more mature wind area to hydrodynamic systems. Therefore, this paper examines the models and the application of control technology across both domains, both from a comparative and contrasting point of view, with the aim of identifying commonalities in models and control objectives, as well as potential solutions. Key comparative reference points include the articulation of the exployed models, specification of control objectives, development of high--fidelity simulators, and development of solution concepts. Not least, in terms of realistic system requirements are the set of physical and constraints under which such renewable energy systems must operate, and the need to provide reliable and robust control solutions, which respect the often remote and relatively inaccessible location of many onshore and offshore deployments.
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Engineering, Control & Systems Engineering; ventilation process prediction; safety of mine ventilation system; sensitivity of the main air flows in ventilation subnetworks
Online: 18 July 2017 (12:27:46 CEST)
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This paper presents a methodology for determining the sensitivity of the main air flow directions in ventilation subnetworks to changes of aerodynamic resistance and of air density in mine workings. Formulae for determination of the sensitivity of the main subnetwork air flows by establishing the degree of dependency of the air volume stream in a given working on the variations in resistance or air density of other workings of the network have been developed. They have been implemented in the VentGraph mine ventilation network simulator. This software, widely used in Polish collieries provides an extended possibility to predict the process of ventilation, air distribution and, in the case of underground fire, also the spread of combustion gasses. The new method facilitates assessment by mine ventilation services of the stability of ventilation systems in exploitation areas and determine of the sensitivity of the main subnetwork air flow directions to changes of aerodynamic resistance and air density. Recently in some Polish collieries new longwalls are developed in seams located deeper then the bottom of the intake shaft. Such solution is called “exploitation below the level of access” or “sublevel”. The new approach may be applied to such developments to assess the potential of changes of direction and air flow rates. In addition, interpretation of the developed sensitivity indicator is presented. While analyzing air distributions for sublevel exploitation, application of current numerical models for calculations of the distribution results in tangible benefits, such as the evaluation of the safety or risk levels for such exploitation. Application of the VentGraph computer program, and particularly the module POŻAR (fire) with the newly developed options, enables an additional approach to the sensitivity indicator in evaluating air flow safety levels for the risks present during exploitation below the level of the intake shaft. The analyses performed and examples presented enabled useful conclusions in mining practice to be drawn.
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Engineering, Control & Systems Engineering; cyber physical systems; industry 4.0; MDE; hardware and software co-design; lifetime verification & validation; dependability; correctness; flexibility; self-management; self-adapting; self-healing
Online: 17 July 2017 (10:27:33 CEST)
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Though Cyber Physical Systems (CPS) become very popular in last the decade, dependability of CPS is still a critical issue and related survey is rare. We try to spell out the jigsaw of technologies and figure out the technical trends of dependable self-managing CPS. This survey first recalls the motivation and the similar concepts. By analyzing four generic architectures, we summarize the common characteristics and related assurance technologies, and propose a more generic environment-in-loop processing flow of CPS and a formal interaction flow between physical space and cyber space. Further, the similarity between correctness and dependability is formally analyzed and the new five research questions of dependable self-managing CPS are presented. Then we review the critical technologies and related correctness verification & validation (V&V) methods, the architectures for dependable self-managing CPS. Further, the detail dependability management and V&V technologies are surveyed, which covers the areas of running-time fault management methods and whole life cycle V&V technologies, maintenance and available tool sets. For holistic CPS development, Modeling techniques and MDE (model driven engineering) based V&V methods are analyzed in detail. Then we complete the jigsaw of technologies and figure out the missing part. Further, we propose the technical challenges and the further direction. To our best knowledge, this is the first comprehensive survey on dependable self-managing CPS development and evaluation.
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Engineering, Control & Systems Engineering; Acrobot; Artificial Intelligence; SARSA; PWM; Genetic Algorithm
Online: 4 July 2017 (16:12:37 CEST)
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An acrobot is a planar robot with a passive actuator in its first joint. The control problem of the acrobot tries to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up problem, when the robot has to rise itself through swinging up as a human acrobat does, and the balancing problem, when the robot has to maintain itself on the inverted pendulum position. We have developed three controllers for the swing-up problem applied to two types of motors: small and big. For small motors, we used the SARSA controller and the PD with a trajectory generator. For big motors, we propose a new controller to control the acrobot, a PWM controller. All controllers except SARSA are tuned using a Genetic Algorithm.
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Engineering, Control & Systems Engineering; conceptual modeling; cyber-physical systems; cyber-physical gap; Object-Process Methodology; model-based systems engineering; Three Mile Island 2 Accident
Online: 26 June 2017 (04:59:29 CEST)
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: The cyber-physical gap (CPG) is the difference between the 'real' state of the world and the way the system perceives it. This discrepancy often stems from the limitations of sensing and data collection technologies and capabilities, and is an inevitable issue in any cyber-physical system (CPS). Ignoring or misrepresenting such limitations during system modeling, specification, design, and analysis can potentially result in systemic misconceptions, disrupted functionality and performance, system failure, severe damage, and potential detrimental impacts on the system and its environment. We propose CPG-Aware Modeling & Engineering (CPGAME), a conceptual model-based approach for capturing, explaining, and mitigating the CPG, on top of and in sync with the conventional system model, and as an inherent systems engineering activity. This approach enhances the systems engineer’s ability to cope with CPGs, mitigate them by design, and prevent erroneous decisions, actions, and hazardous implications. CPGAME is a generic, conceptual approach, specified and demonstrated with Object Process Methodology (OPM). OPM is a holistic conceptual modeling paradigm for multidisciplinary, complex, dynamic systems, which is also ISO-19450. We analyze the 1979 Three Miles Island 2 nuclear accident as a prime example of the disastrous consequences of unmitigated CPGs in complex systems.
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Engineering, Control & Systems Engineering; linear switched reluctance machine (LSRM); coordinated network; distributed control; synchronization tracking
Online: 25 May 2017 (06:21:08 CEST)
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This paper discusses about control of the linear switched reluctance machines (LSRMs) network for the zero phase-difference tracking to a sinusoidal reference. The dynamics of each LSRM is derived by online system identification and modeled as a second-order linear system. Accordingly, based on the coupled harmonic oscillators synchronization manner, a distributed control is proposed to synchronize each LSRM state to a virtual LSRM node representing the external sinusoidal reference for tracking it with zero phase-difference. Subsequently, a simulation scenario and an experimental platform with the identical parameter setup are designed to investigate the tracking performance of the LSRMs network constructed by the proposed distributed control. Finally, the simulation and experimental results verify the effectiveness of the proposed LSRMs network controller, and also prove that the coupled harmonic oscillators synchronization method can improve the synchronization tracking performance and precision.
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Engineering, Control & Systems Engineering; autonomous aerial refueling; computer vision; probe and drogue; target detection and tracking; ellipse fitting
Online: 16 May 2017 (05:56:11 CEST)
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Autonomous aerial refueling technology is an effective solution to extend flight duration of unmanned aerial vehicles, and also a great challenge due to its high risk. For autonomous probe-and-drogue refueling tasks, relative navigation to provide relative position between the receiver aircraft and the refueling drogue is the first and essential step, and vision-based method is the most frequently used. A new monocular vision navigation sensor with image processing strategy consisting of the drogue detection method and the tracking method is developed for autonomous aerial refueling in this paper. In the drogue detection method, thresholding and mathematical morphology method are adopted to eliminate image interference, and contours extraction method is applied to obtain all contours, which are then subsequently checked to achieve target contour of drogue. In the tracking method, a rectangle of interest (ROI) of current frame image is determined by positioning results of last frame, and then processed by the previous drogue detection method. Finally, the proposed image processing strategy in monocular vision navigation sensor is validated using real flight images, which are captured from an autonomous aerial refueling testbed using a micro six-rotor aircraft as receiver aircraft.
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Engineering, Control & Systems Engineering; stochastic disturbance accommodating control; edgewise vibrations; minimum-variance unbiased estimator
Online: 1 May 2017 (11:11:31 CEST)
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Vibrations of blades and tower have important impact for wind turbine. This paper presents a active controller design to suppress blade edgewise vibrations under aerodynamic load and gravitational load.Treating the sum of aerodynamic load input in edgewise direction and gravitational load as unknown disturbance input,a stochastic disturbance accommodating control(SDAC) approach is proposed to design a controller which it utilizes a minimum-variance unbiased estimator(MVUE) to estimate both state and unknown input. The stability analysis proved that the proposed SDAC is bounded in mean square.In order to verify the performance of the minimum-variance unbiased estimator and the proposed SDAC, numerical simulations using Matlab/Simulink have been carried out for the National Renewable Energy Laboratory 5-MW wind turbine.Under the different circumstance which exists the random process and measure noise and noise free. It is shown that the estimation value by MVUE can tracking the real state and unknown input. The results are also compared to the traditional linear quadratic regulator(LQR) and show that the proposed stochastic disturbance accommodating control scheme can further reduce displacement in edgewise vibrations direction and the control strategy is more effective than the LQR.
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Engineering, Control & Systems Engineering; fault diagnosis; analytical redundancy; fuzzy logic; neural networks; data-driven approaches; nonlinear geometric approach; wind farm benchmark simulator
Online: 1 May 2017 (07:53:08 CEST)
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The fault diagnosis of wind farms has been proven to be a challenging task and motivates the research activities carried out through this work. Therefore, this paper deals with the fault diagnosis of a wind park benchmark model, and it considers viable solutions to the problem of earlier fault detection and isolation. The design of the fault indicator involves data-driven approaches, as they can represent effective tools for coping with poor analytical knowledge of the system dynamics, noise, uncertainty and disturbances. In particular, the proposed data-driven solutions rely on fuzzy models and neural networks that are used to describe the strongly nonlinear relationships between measurement and faults. The chosen architectures rely on nonlinear autoregressive with exogenous input models, as they can represent the dynamic evolution of the system along time. The developed fault diagnosis schemes are tested by means of a high-fidelity benchmark model, that simulates the normal and the faulty behaviour of a wind farm installation. The achieved performances are also compared with those of a model-based approach relying on nonlinear differential geometry tools. Finally, a Monte-Carlo analysis validates the robustness and the reliability of the proposed solutions against typical parameter uncertainties and disturbances.
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Engineering, Control & Systems Engineering; maneuvering target tracking; interacting multiple model; fifth-degree spherical simplex-radial rule; Markov process
Online: 18 April 2017 (03:35:28 CEST)
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For improving the tracking accuracy and model switching speed of maneuvering target tracking in nonlinear systems, a new algorithm named interacting multiple model fifth-degree spherical simplex-radial cubature filter (IMM5thSSRCKF) is proposed in this paper. The new algorithm is a combination of the interacting multiple model (IMM) filter and fifth-degree spherical simplex-radial cubature filter (5thSSRCKF). The proposed algorithm makes use of Markov process to describe the switching probability among the models, and uses 5thSSRCKF to deal with the state estimation of each model. The 5thSSRCKF is an improved filter algorithm, which utilizes the fifth-degree spherical simplex-radial rule to improve the filtering accuracy. Finally, the tracking performance of the IMM5thSSRCKF is evaluated by simulation in a typical maneuvering target tracking scenario. Simulation results show that the proposed algorithm has better tracking performance and quicker model switching speed when disposing maneuver models compared with IMMUKF, IMMCKF and IMM5thCKF.
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Engineering, Control & Systems Engineering; microgrid; SCADA; Java; middleware
Online: 31 March 2017 (08:27:37 CEST)
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The effective Supervisory Control and Data Acquisition (SCADA) system can improve the reliability, safety and economic benefits of microgrid operation. In this research, the lower central controller and upper WEB monitoring system are connected by the SCADA system which is as the hub of microgrid intelligent monitoring platform. This system contains a set of specific functions programmed by Java as a middleware which can provide control and communication between the central controller and the upper monitoring system. The system realizes the real-time data acquisition and storage, the control instructions parsing and transmitting, the microgrid security and stability, the load balancing and resource recovery of the microgrid. All that functions have been tested and verified in the actual operation.
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Engineering, Control & Systems Engineering; hybrid adaptive; unscented kalman filtering; maximum a posteriori; maximum likelihood criterion
Online: 17 March 2017 (01:49:42 CET)
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In order to overcome the limitation of the traditional adaptive Unscented Kalman Filtering (UKF) algorithm in noise covariance estimation for statement and measurement, we propose a hybrid adaptive UKF algorithm based on combining Maximum a posteriori (MAP) criterion and Maximum likelihood (ML) criterion, in this paper. First, to prevent the actual noise covariance deviating from the true value which can lead to the state estimation error and arouse the filtering divergence, a real-time covariance matrices estimation algorithm based on hybrid MAP and ML is proposed for obtaining the statement and measurement noises covariance, respectively; and then, a balance equation the two kinds of covariance matrix is structured in this proposed to minimize the statement estimation error. Compared with the UFK based MAP and based ML, the proposed algorithm provides better convergence and stability.
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Engineering, Control & Systems Engineering; tactile sensors; assistive technologies; power wheelchair; medical systems; robotic; joystick; strain-gauge; spasticity
Online: 14 February 2017 (09:02:48 CET)
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This article presents a new input device for spastic patients and others with similar symptoms. The sensor consists of a disc used to determine positions and can replace standard joysticks in medical devices such as electric-powered wheelchairs. Using a standard joystick while operating a powered wheelchair can result in dangerous situations when spastic movements occur and extremities cramp making them uncontrollable. To avoid this, a disc was developed that can be controlled with any body part. By shifting weight (x- and y-axis) the disc can tilt in any direction creating a proportional output signal and can also be pushed down in the center (z-axis) to open a menu on a screen for example. When spasms occur it is impossible for users to get stuck on the input device because the disc is flat and can be mounted within a control panel. Body parts coming into contact with the disc would merely slide across the disc without triggering unintentional actions. The sensor presented here is also adaptive and can be adjusted to fit a user’s strength and range of motion. This proposal aims to develop an input device that enables spastic patients to operate sensitive systems safely.
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Engineering, Control & Systems Engineering; wind prediction; wind estimation; UAS; wind shear; gust; multi-platform integration
Online: 18 January 2017 (09:44:54 CET)
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This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular interest in the context of energy-efficient navigation of Small Unmanned Aerial Systems (UAS). The proposed system generates real-time wind vector estimates and a novel algorithm to generate wind field predictions. Estimations are based on the integration of an off-the-shelf navigation system and airspeed readings in a so-called direct approach. Wind predictions use atmospheric models to characterize the wind field with different statistical analyses. During the prediction stage, the system is able to incorporate, in a big-data approach, wind measurements from previous flights in order to enhance the approximations. Wind estimates are classified and fitted into a Weibull probability density function. A Genetic Algorithm (GA) is utilized to determine the shaping and scale parameters of the distribution, which are employed to determine the most probable wind speed at a certain position. The system uses this information to characterize a wind shear or a discrete gust and also utilizes a Gaussian Process regression to characterize continuous gusts. The knowledge of the wind features is crucial for computing energy-efficient trajectories with low cost and payload. Therefore, the system provides a solution that does not require any additional sensors. The system architecture presents a modular decentralized approach, in which the main parts of the system are separated in modules and the exchange of information is managed by a communication handler to enhance upgradeability and maintainability. Validation is done providing preliminary results of both simulations and Software-In-The-Loop testing. Telemetry data collected from real flights, performed in the Seville Metropolitan Area in Andalusia (Spain), was used for testing. Results show that wind estimation and predictions can be calculated at 1 Hz and a wind map can be updated at 0.4 Hz. Predictions show a convergence time with a 95% confidence interval of approximately 30 s.
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Engineering, Control & Systems Engineering; inertial sensor; finger gesture; NAO humanoid robot; quaternions; motion capture
Online: 23 December 2016 (10:31:04 CET)
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Wearable technology has been proposed as a potential tool to change the way of human life, such as the smart bracelet and the Google Glass. In the wearable technology, the inertial sensor has great significance in tracking the object movements. The paper focused on detecting the movements of user’s finger based on the inertial sensor to give the control signals. Firstly, the attitude matrix, which represented the transformation relation of carrier coordinate system and the navigation coordinate system, was obtained. Secondly, the attitude matrix was expressed based on the quaternions. Thirdly, the finger gesture was processed by the attitude matrix to get the attitude angle. Finally, the robot was controlled by attitude angle to make the moving action. The experimental results showed the detection of the finger movement is effective.
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Engineering, Control & Systems Engineering; modelling and simulation for control; advanced control design; model–based and data-driven approaches; artificial intelligence; thermal unit nonlinear system
Online: 9 December 2016 (03:17:38 CET)
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The paper presents the design and the implementation of different advanced control strategies that are applied to a nonlinear model of a thermal unit. A data–driven grey–box identification approach provided the physically meaningful nonlinear continuous–time model, which represents the benchmark exploited in this work. The control problem of this thermal unit is important since it constitutes the key element of passive air conditioning systems. The advanced control schemes analysed in this paper are used to regulate the outflow air temperature of the thermal unit by exploiting the inflow air speed, whilst the inflow air temperature is considered as an external disturbance. The reliability and robustness issues of the suggested control methodologies are verified with a Monte–Carlo analysis for simulating modelling uncertainty, disturbance and measurement errors. The achieved results serve to demonstrate the effectiveness and the viable application the suggested control solutions to air conditioning systems. The benchmark model represents one of the key issues of this study, which is exploited for benchmarking different model–based and data–driven advanced control methodologies through extensive simulations. Moreover, this work highlights the main features of the proposed control schemes, while providing practitioners and heating, ventilating and air conditioning engineers with tools to design robust control strategies for air conditioning systems.
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Engineering, Control & Systems Engineering; multi-agent systems; information theory; distributed control; value of information; collaborative search
Online: 29 November 2016 (07:20:46 CET)
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We present information theoretic search strategies for single and multi-robot teams to localize the source of biochemical contaminants in turbulent flows. The robots synthesize the information provided by sporadic and intermittent sensor readings to optimize their exploration strategy. By leveraging the spatio-temporal sensing capabilities of a mobile sensing network, our strategies result in control actions that maximize the information gained by the team while optimizing the time spent localizing the position of the biochemical source. By leveraging the team's ability to obtain simultaneous measurements at different locations, we show how a multi-robot team is able to speed up the search process resulting in a collaborative information theoretic search strategy. We validate our proposed strategies in both simulations and experiments.
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Engineering, Control & Systems Engineering; inertial navigation system; ZUPT; ellipsoidal constraint; correct position
Online: 21 November 2016 (09:57:15 CET)
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The foot-mounted inertial navigation system is an important application of pedestrian navigation as it in principle does not rely any external assistance. A real-time range decomposition constraint method is proposed in this paper to combine the information of dual foot-mounted inertial navigation systems. It is well known that low-cost inertial sensors with ZUPT (zero-velocity update) and range decomposition constraint perform better than in either single way. This paper recommends that the distance of separation between the position estimates of feet-mounted inertial navigation systems be restricted in the ellipsoidal constraint which relates to the maximum step and leg height. The performance of the proposed method is studied utilizing experimental data. The results indicate that the method can effectively correct the dual navigation systems’ position over the existing spherical constraint.
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Engineering, Control & Systems Engineering; inertial response; internal voltage; variable speed wind turbines
Online: 29 September 2016 (11:38:53 CEST)
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With the rapid development of wind power generations, the inertial response of wind turbines (WTs) are widely concerned recently, which is important for grid frequency dynamic and stability. This paper recognizes and understands the inertial response of type-3 and type-4 WTs from the view of equivalent internal voltage, in analogy with typical synchronous generators (SGs). Due to the dynamic of the equivalent inertial voltage different from SGs, the electromechanical inertia of WTs is completely hidden. The rapid power control loop and synchronization control loop is the main reasons that the WT's inertial response is disenabled. On the basis of the equivalent internal voltage's dynamic, the existing inertia control method for WTs are reviewed and summarized as three approaches from the view of WT's control, i.e. optimizing the power control or synchronization control or both. At last, the main challenges and issues of these inertia controls are attempted to explain and address.
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Engineering, Control & Systems Engineering; rehabilitation robotics; force feedback; remote rehabilitation; series elastic actuator; tele-assessment
Online: 28 September 2016 (14:04:51 CEST)
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The use of haptic devices in rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home, and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand.
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Engineering, Control & Systems Engineering; passenger flow distribution integrating model; urban rail transit hub platform; simulation and application; performance evaluation; traffic safety and service level
Online: 26 September 2016 (08:11:45 CEST)
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Urban rail transit has become the main mode to ease traffic congestion. Researches on the dynamic variation regularity of passenger flow distribution and passenger flow volume of urban rail transit hub platform have important implication in hub capacity design, operation organization and risk prevention. This paper proposes a passenger flow distribution integrating model (PFDIM) based on the basic theory analysis and basic parameter models of passenger flow distribution in hub platform. Simulation designs of PFDIM are built with Java and Anylogic, which contain simulation system functional framework, implementation path, simulation processes and simulation models. By case study, the performance comparison between two simulation methods indicates that simulation designs are scientific and accordant with the reality scene; calculation results prove that PFDIM has a good performance on describing the dynamic variation regularity of passenger flow distribution. Moreover, the experiments with different departure intervals could provide the reference for train scheduling under the viewpoint of traffic safety and service level.
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Engineering, Control & Systems Engineering; robot joint; virtual torque sensor; Gaussian process regression; harmonic drive compliance model
Online: 23 September 2016 (09:52:45 CEST)
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In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.
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Engineering, Control & Systems Engineering; Finite-time control; nonlinear system; non-Lipschitzian dynamics; lyapunov function
Online: 2 August 2016 (10:40:38 CEST)
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This paper focuses on the problem of finite-time stabilization of homogeneous, non-Lipschitz
systems with dilations. A key contribution of this paper is the design of a virtual recursive Hölder,
non-Lipschitz state feedback which renders the non-Lipschitz systems in the special case dominated
by a lower-triangular nonlinear system, finite-time stable. The proof is based on a recursive design
algorithm developed recently, to construct the virtual Hölder continuous, finite-time stabilizer as well as a C1 positive definite and proper Lyapunov function that guarantees finite-time stability of the non-Lipschitz non-linear systems.