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2021 22nd International Carpathian Control Conference (ICCC)最新文献

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Fuzzy Control of the Robotic Arm for a Smart Electric Wheelchair to Assist People with Movement Disabilities 辅助运动障碍者的智能电动轮椅机械臂模糊控制
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454626
Cristina Floriana Pană, D. Pătrașcu-Pană, Ionel Cristinel Vladu, Liviu Florin Manta, F. Besnea Petcu, S. Cismaru, Andrei-Costin Trasculescu
{"title":"Fuzzy Control of the Robotic Arm for a Smart Electric Wheelchair to Assist People with Movement Disabilities","authors":"Cristina Floriana Pană, D. Pătrașcu-Pană, Ionel Cristinel Vladu, Liviu Florin Manta, F. Besnea Petcu, S. Cismaru, Andrei-Costin Trasculescu","doi":"10.1109/ICCC51557.2021.9454626","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454626","url":null,"abstract":"Robotic support arms (RSAs) have the potential to allow people with disabilities in both upper limbs and lower limbs greater independence, allowing them to perform the necessary physical activities every day. Disabled people usually use RSAs while sitting in an electric wheelchair (EW). This paper will present the Kinova Gen3 lite assistance robot's fuzzy control for people with personal needs mounted on an electric wheelchair. A controller based on fuzzy logic with the algorithm for formulating fuzzy rules on software and effective control for a 6-DOF robotic arm simulates the robotic arm's operation to perform the following two tasks: serving the user a glass of water and inserting a plug into the socket. The parameters that characterize the robotic arm will be used for the simulator to mimic the actual response. The fuzzy logic controller is applied to the robot arm and then executed on the entire robotic arm to control the desired tasks.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127262674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Shaft Displacement Measurement Using Capacitive Sensors 用电容式传感器测量轴位移
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454656
Tomas Pawlenka, J. Škuta
{"title":"Shaft Displacement Measurement Using Capacitive Sensors","authors":"Tomas Pawlenka, J. Škuta","doi":"10.1109/ICCC51557.2021.9454656","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454656","url":null,"abstract":"The paper is focused on shaft displacement measurement with the use of capacitive sensors made by printed circuit technology. A basis is a measuring unit with a capacitive-digital converter (CDC), which can provide the measured data to the main microcontroller for their processing and storage. The main goal was to design a low-cost solution for measuring the position of the shaft, which would be able to compete with professional and expensive units. Therefore, the result of this work is also a comparison of measured data with data from the professional unit and sensors from the Micro-Epsilon company. This unit also served as a calibration device. Thanks to this device, it was possible to convert the resulting signal representing capacity to the displacement in micrometres.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125495231","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
LMI Approach in State Control Design for Uncertain Positive Time-Delay Systems 不确定正时滞系统状态控制设计中的LMI方法
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454665
A. Filasová, D. Krokavec
{"title":"LMI Approach in State Control Design for Uncertain Positive Time-Delay Systems","authors":"A. Filasová, D. Krokavec","doi":"10.1109/ICCC51557.2021.9454665","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454665","url":null,"abstract":"The article proposes a state control design approach for positive time-delay nonlinear systems in the presence of Lipschitz nonlinearities and parametric uncertainties. Using Lyapunov-Krasovskii theorem, conditions for asymptotic stability and the state-feedback control are formulated using expanded set of linear matrix inequalities, accounting time delays, system uncertainties and structural constraints. The advantage is a simple design procedure and closed-loop nonnegativity. A numerical example is presented to justify the proficiency and performance of the suggested technique.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131051583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Kalman Filter for Predictive Maintenance and Anomaly Detection 预测维护与异常检测的卡尔曼滤波
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454654
Sirarpi Hovsepyan, J. Papadoudis, Paolo Mercorelli
{"title":"Kalman Filter for Predictive Maintenance and Anomaly Detection","authors":"Sirarpi Hovsepyan, J. Papadoudis, Paolo Mercorelli","doi":"10.1109/ICCC51557.2021.9454654","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454654","url":null,"abstract":"There are various strategies in optimization of anomaly detection problem on sensor data. This paper describes a Gaussian Mixture Model (GMM) and Kalman filter to detect outliers within the sensor data of wire bonding. With limitation on data samples and high dimensional parameters, Principal Component Analysis (PCA) helped to reduce dimensionality without losing important information. The Expectation-Maximization algorithm for estimating Gaussian distribution parameters of GMM provided us a clustering model to fit our data. A weighted distance from the cluster center in the employed GMM model is applied to tune noise variances on measurement errors. The proposed method is validated using real measurements in the context of a manufacturing system.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124177018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Deep Learning-Based Automated Vehicle Steering 基于深度学习的自动车辆转向
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454613
Ahmad Reda, A. Bouzid, J. Vásárhelyi
{"title":"Deep Learning-Based Automated Vehicle Steering","authors":"Ahmad Reda, A. Bouzid, J. Vásárhelyi","doi":"10.1109/ICCC51557.2021.9454613","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454613","url":null,"abstract":"Autonomous Vehicle applications are full of open challenges. Despite the advanced technologies, the lack of robust systems still exists due to the high complexity of the surrounded environments. The automated steering is one of the most complex autonomous driving system’s application. Model predictive control is the most common control strategy used to implement the automated steering tasks due to its ability to solve an online quadratic optimization problem in the real-time, in addition to its efficiency in handling the constraints of the system’s environments. MPC controller is used to drive the vehicle autonomously along the centerline of the road based on two main factors, the lateral deviation and relative yaw angle. Deep learning technology has been widely used in recent years because of the promising performance achieved in different applications and tasks. In this context, we suggested that the implementation of the Deep Neural Network (DNN) will provide a great improvement and it can be more computationally efficient than solving an online quadratic problem (QP), that will naturally lead to reduce the time, the complexity, and the computational loads of implementations. The main aims of this paper are to design a deep learning-based approach for automated vehicle steering based on the behaviour of the traditional MPC controller. In addition, to study the efficiency of the full replacement of the MPC controller by the suggested DNN model. The study is based on performing a comparison between the implementations of both controllers (MPC and DNN model) in terms of the performance and the execution time. The performance indicator is the ability of the controller to drive the decision variables (lateral deviation and yaw angle) to be close to zero in order to drive the vehicle autonomously along the desired path.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127422455","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A Control Scheme for PMSMs using Model Predictive Control and a Feedforward Action in the Presence of Saturated Inputs 基于模型预测控制和前馈控制的永磁同步电动机饱和输入控制方案
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454662
Tanja Zwerger, Paolo Mercorelli
{"title":"A Control Scheme for PMSMs using Model Predictive Control and a Feedforward Action in the Presence of Saturated Inputs","authors":"Tanja Zwerger, Paolo Mercorelli","doi":"10.1109/ICCC51557.2021.9454662","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454662","url":null,"abstract":"This contribution considers a control scheme consisting of Model Predictive Control (MPC) together with a feedforward control and a Maximal Torque per Ampere (MTPA) structure. The MTPA structure, which is in the outer loop of the control system, calculates the optimal direct and quadrature current from a given desired torque. This current represents the reference currents for the MPC which states the control loop. The MPC is adapted using a Dual Kalman Filter which estimates parameter of the electrical system in d-q coordinates. Simulations show the effectiveness of the proposed control scheme with respect to a standard PI controller in the presence of saturated inputs. In particular, simulated results in the presence of input saturations show that MPC is working without overshoot in the actual currents which leads to less needed power in the input. The reason of that is that the proposed MPC uses just an optimal proportional control and thus avoids windup effects. Nevertheless, using just a proportional action, a bias between the desired and obtained signal is present in the results.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121960758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Brain-Computer Virtual Reality Interface System for Brainwave Analysis in Medical Recovery 医学康复脑波分析脑机虚拟现实接口系统
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454604
Florina Besnea Petcu, I. Reșceanu, Andrei-Costin Trasculescu, Cristina Floriana Pană, S. Cismaru, Hani Hamdan, N. Bîzdoaca
{"title":"Brain-Computer Virtual Reality Interface System for Brainwave Analysis in Medical Recovery","authors":"Florina Besnea Petcu, I. Reșceanu, Andrei-Costin Trasculescu, Cristina Floriana Pană, S. Cismaru, Hani Hamdan, N. Bîzdoaca","doi":"10.1109/ICCC51557.2021.9454604","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454604","url":null,"abstract":"Sharp increase and efficiency boost acquired with Virtual Reality (VR) headsets provide limitless opportunities for platform development ranging from training, education, and research. This paper aims to provide a fast solution to contain the hazard created by human error further caused by tiredness and lack of attention and to implement safety measures that detect this type of stimulus and react to it within the operated system. The concentration or focus of a person is measured through the help of brainwaves, which can help to determine if the person is paying attention to the executed task. A persons’ state captured by monitoring the biomedical parameters namely the electroencephalogram (EEG) will act as input data for virtual reality system. The objective of this paper is to create an experimental platform, which shall be able to provide acoustic, visual, and haptic feedback to the user. Whenever his concentration level drops below certain levels, a head-mounted display (HMD) and auxiliary devices particularly used for virtual reality will reflect feedback. If the level of attention is at the lowest limit, the system will initiate safety measures to reach a safe state without taking any risks.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125517045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Filter Design for Discrete-Time Linear Descriptor Systems 离散线性广义系统的滤波器设计
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454620
D. Krokavec, A. Filasová
{"title":"Filter Design for Discrete-Time Linear Descriptor Systems","authors":"D. Krokavec, A. Filasová","doi":"10.1109/ICCC51557.2021.9454620","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454620","url":null,"abstract":"System state estimation plays an important role in control, monitoring and fault detection of dynamical processes, not excluding the problem of state filtering for descriptor systems. In the context of $H_{infty}$ filtering, the paper subject is design of observers for discrete-time linear descriptor systems. Reflecting conditions for admissibility related to this class of systems, convex optimization task is proposed for descriptor filter design, ensuring filter gain norm. The proposed design formulation is based on generalized Lyapunov function and considers a filter descriptor structure of full-order. Numerical example is presented to show the effectiveness of the proposed filtering scheme.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131044068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Self-sensing Capability of Electromagnetic Harvester Engineered for MR Damper: Experimental Evaluation 磁流变阻尼器电磁收割机的自感知能力:实验评估
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454601
P. Orkisz, B. Sapiński
{"title":"Self-sensing Capability of Electromagnetic Harvester Engineered for MR Damper: Experimental Evaluation","authors":"P. Orkisz, B. Sapiński","doi":"10.1109/ICCC51557.2021.9454601","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454601","url":null,"abstract":"The study investigates the self-sensing capability of an electromagnetic harvester designed for a commercial MR damper. The objective of the work is to demonstrate that the harvester can also serve as a velocity sensor. For this purpose, the relative velocity of the MR damper shaft (harvester rod) was reconstructed from the electromotive force induced in the harvester coil. To demonstrate the adequacy of the approach, experimental tests were conducted under harmonic input excitations. The experimental data revealed the self-sensing potential of the investigated harvester. This feature seems to be useful in vibration control systems with MR damper and energy regeneration.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134284607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Use of Peltier Modules for Liquid Cooling 使用珀尔帖模块进行液体冷却
2021 22nd International Carpathian Control Conference (ICCC) Pub Date : 2021-05-31 DOI: 10.1109/ICCC51557.2021.9454645
Radek Guráš, M. Mahdal
{"title":"Use of Peltier Modules for Liquid Cooling","authors":"Radek Guráš, M. Mahdal","doi":"10.1109/ICCC51557.2021.9454645","DOIUrl":"https://doi.org/10.1109/ICCC51557.2021.9454645","url":null,"abstract":"This paper deals with the use of Peltier modules for liquid cooling. The aim is to use a two-circuit device that uses Peltier modules to cool the flowing liquid, which serves as a cooling medium for the accumulation of cold in the tank. This tank also serves as an exchanger that transfers heat between the primary and secondary circuits of the device. This configuration is especially useful when dealing with radiation, toxic substances or on the contrary compliance with cleanliness standards in the food industry. The paper describes the overall efficiency of the device in comparison with traditional cooling methods as well as other pros and cons of such a solution.","PeriodicalId":339049,"journal":{"name":"2021 22nd International Carpathian Control Conference (ICCC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131872844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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