IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.035
Marcel Moll , Timo Oksanen
{"title":"Kinematic and Dynamic Modeling of a Generalized Tractor-Trailer System with Steering Actuation","authors":"Marcel Moll , Timo Oksanen","doi":"10.1016/j.ifacol.2025.03.035","DOIUrl":"10.1016/j.ifacol.2025.03.035","url":null,"abstract":"<div><div>The study of vehicle behavior for the development of guidance algorithms has been widely explored. In agriculture, tractor guidance systems are now standard features in premium machinery. The next step to further improve precision is to achieve centimeter-level guidance for connected implements, especially those equipped with additional steering capabilities. Compared to the tractor-only scenario, the complexity of model design increases, and there is no established consensus among manufacturers on the preferred modeling approach. To facilitate interoperability between implement and tractor manufacturers, a generalized approach is required and has been previously proposed. This work presents an enhanced model that features an abstracted control interface for actuated towed implements. This interface is designed to be extendable to hitched implements and can account for known tire side-slip. For more detailed simulations, a dynamic version of the model is derived, allowing for the use of advanced tire and force models. The paper includes a systematic derivation of both kinematic and dynamic models, as well as first simulation results.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 199-204"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704136","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.045
Tychique K. Nzalalemba , Ziad Alkhoury , Jawwad Ahmed , Mihaly Petreczky , Laurentiu Hetel , Lotfi Belkoura
{"title":"A four-bodies motorcycle dynamic model for observer design ⁎","authors":"Tychique K. Nzalalemba , Ziad Alkhoury , Jawwad Ahmed , Mihaly Petreczky , Laurentiu Hetel , Lotfi Belkoura","doi":"10.1016/j.ifacol.2025.03.045","DOIUrl":"10.1016/j.ifacol.2025.03.045","url":null,"abstract":"<div><div>Motivated by the need to predict dangerous scenarios, this article introduces a non-linear dynamic model for motorcycles consisting of four rigid bodies. Using Jourdain’s principle, the model incorporates both longitudinal and lateral dynamics, targeting a balance between numerical complexity and accuracy of representation. The paper further employs the model to design a Luenberger observer based on linear quadratic regulator theory, for estimating physical states based on sensor measurements. In turn, the state estimates are useful for predicting dangerous scenarios (lowside, highside, fall). The relevance of the approach is demonstrated through simulations of various straight trajectories and a lane-changing scenario using BikeSim simulator.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 259-264"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.030
Robert Dürr , Eric Otto , Rudolph L. Kok , Stefanie Duvigneau , Achim Kienle , Andreas Bück
{"title":"Surrogate Modeling for Control of Microbial Biopolymer Production Process","authors":"Robert Dürr , Eric Otto , Rudolph L. Kok , Stefanie Duvigneau , Achim Kienle , Andreas Bück","doi":"10.1016/j.ifacol.2025.03.030","DOIUrl":"10.1016/j.ifacol.2025.03.030","url":null,"abstract":"<div><div>In this contribution, the Dynamic Mode Decomposition with control (DMDc) is used to derive a surrogate model of a continuous PHA biopolymer production process based on a recently published complex process model. Here, snapshot simulation data of the original model is processed to obtain a linear surrogate model formulation using delay coordinates. The quality of the surrogate is statistically validated within simulation studies. Additionally, the influence of the of the order of delay coordinates is investigated. It is shown, that the highly nonlinear dynamics of the PHA-manufacturing process can be approximated accurately by the DMD-based model even for large variations of initial conditions and control variables. This offers the opportunity to apply well-studied and established tools from robust and optimal control in future investigations.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 169-174"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.041
Tobias M. Wolff , Maylin Menzel , Johannes W. Dietrich , Matthias A. Müller
{"title":"Modeling and Predictive Control for the Treatment of Hyperthyroidism⁎","authors":"Tobias M. Wolff , Maylin Menzel , Johannes W. Dietrich , Matthias A. Müller","doi":"10.1016/j.ifacol.2025.03.041","DOIUrl":"10.1016/j.ifacol.2025.03.041","url":null,"abstract":"<div><div>In this work, we propose an approach to determine the dosages of antithyroid agents to treat hyperthyroid patients. Instead of relying on a trial-and-error approach as it is commonly done in clinical practice, we suggest to determine the dosages by means of a model predictive control (MPC) scheme. To this end, we first extend a mathematical model of the pituitary-thyroid feedback loop such that the intake of methimazole, a common antithyroid agent, can be considered. Second, based on the extended model, we develop an MPC scheme to determine suitable dosages. In numerical simulations, we consider scenarios in which (i) patients are affected by Graves’ disease and take the medication orally and (ii) patients suffering from a life-threatening thyrotoxicosis, in which the medication is usually given intravenously. Our conceptual study suggests that determining the medication dosages by means of an MPC scheme could be a promising alternative to the currently applied trial-and-error approach.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 235-240"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.042
Clara Horvath , Marie-Sophie Kohlmayer , Andreas Körner
{"title":"Mathematical Model Analysis of the Hypothalamus-Pituitary-Thyroid Axis","authors":"Clara Horvath , Marie-Sophie Kohlmayer , Andreas Körner","doi":"10.1016/j.ifacol.2025.03.042","DOIUrl":"10.1016/j.ifacol.2025.03.042","url":null,"abstract":"<div><div>This paper presents an extensive local and global sensitivity analysis of a mathematical model describing the hypothalamus-pituitary-thyroid axis. The model is based on a system of differential equations describing the dynamic interactions between the key physiological variables: thyroid-stimulating hormone, free thyroxine, the functional size of the thyroid gland and anti-thyroid peroxidase antibodies. We employed the local sensitivity analysis to assess the response of the system to minor alternations in individual parameters, thereby providing insight into the immediate responsiveness of the hypothalamus-pituitary-thyroid axis. To extend the analysis, we also conducted a global sensitivity analysis using latin hypercube sampling combined with partial rank correlation coefficients. Latin hypercube sampling ensures efficient sampling, while partial rank correlation coefficients permit the examination of both linear and non-linear, but monotonic relationships between parameters and output. This dual approach provides a more comprehensive understanding of the impact of variations in key physiological factors on the system globally. Concluding, the findings of these sensitivity analyses have the potential to facilitate the development of patient-specific diagnostics, providing valuable insight into the individual variability in thyroid function.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 241-246"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.014
Xiao Yang , Qiyao Peng , Sander C. Hille
{"title":"Approximation of a compound-exchanging cell by a Dirac point","authors":"Xiao Yang , Qiyao Peng , Sander C. Hille","doi":"10.1016/j.ifacol.2025.03.014","DOIUrl":"10.1016/j.ifacol.2025.03.014","url":null,"abstract":"<div><div>Communication between single cells or higher organisms by means of diffusive compounds is an important phenomenon in biological systems. Modelling therefore often occurs, most straightforwardly by a diffusion equation with suitable flux boundary conditions at the cell boundaries. Such a model will become computationally inefficient and analytically complex when there are many cells, even more so when they are moving. We propose to consider instead a point source model. Each cell is virtually reduced to a point and appears in the diffusion equation for the compound on the full spatial domain as a singular reaction term in the form of a Dirac delta ‘function’ (measure) located at the cell’s centre. In this model, it has an amplitude that is a non-local function of the concentration of compound on the (now virtual) cell boundary. We prove the well-posedness of this particular parabolic problem with non-local and singular reaction term in suitable Sobolev spaces. We show for a square bounded domain and for the plane that the solution cannot be H<sup>1</sup>-smooth at the Dirac point. Further, we show a preliminary numerical comparison between the solutions to the two models that suggests that the two models are highly comparable to each other.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 73-78"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704412","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.065
P. Hickisch , J. Saak , D. Hohlfeld , T. Bechtold
{"title":"Two-step Model Order Reduction for a Thermal Finite Element Model of a Power Electronics Module","authors":"P. Hickisch , J. Saak , D. Hohlfeld , T. Bechtold","doi":"10.1016/j.ifacol.2025.03.065","DOIUrl":"10.1016/j.ifacol.2025.03.065","url":null,"abstract":"<div><div>Understanding the thermal behavior of power electronics is of critical importance in their design and development stage. Typical power losses are P<sub>loss</sub> > 2 kW, thus liquid cooling is often required in order to maintain acceptable temperatures. Due to the different thermal conductivities and heat capacities in the layered design, the system has multiple time constants and can not be modelled as a simple system with one time constant.</div><div>However, this behavior can be well simulated using the finite element method. The transient thermal response is of special interest in the present case. Time constants spanning multiple order of magnitudes call for sufficiently small time steps. To speed up simulations, the original system can be compressed with model order reduction, lowering the state dimension to achieve higher performance, while retaining good accuracy of the simulation results. In this contribution, we apply these techniques to a typical power electronics use case and analyze their performance and accuracy. We also discuss a two-step reduction scheme combining the efficiency and error-bound of two state-of-the-art software packages.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 379-384"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.029
Lukas Tarra , Andreas Deutschmann-Olek , Andreas Kugi
{"title":"Effective single-mode model of laser cavity dynamics⁎","authors":"Lukas Tarra , Andreas Deutschmann-Olek , Andreas Kugi","doi":"10.1016/j.ifacol.2025.03.029","DOIUrl":"10.1016/j.ifacol.2025.03.029","url":null,"abstract":"<div><div>This paper presents an effective single-mode model of laser cavity dynamics, focusing on pulsed lasers, which significantly improves the computational efficiency of state-of-the-art models while exhibiting a comparable model accuracy. The phenomenon of gain-narrowing is discussed starting from a spatially lumped model with a spectrum of multiple longitudinal modes. Based on this information, effective mode parameters are derived, which convert the multi-mode behavior to time-varying dynamics for the total intracavity power. A simulation study for a cavity-dumped Nd:YAG laser shows that the simple model agrees well with the original model. The results presented in this work can be utilized for laser optimization and controller design for a wide range of photonic systems where a compromise between model accuracy and complexity is desired.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 163-168"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.037
Bernd Müller , Tim Friedrich , Oliver Sawodny
{"title":"Application of a Dynamic Tip-Over Stability Margin to a Turntable Ladder Model","authors":"Bernd Müller , Tim Friedrich , Oliver Sawodny","doi":"10.1016/j.ifacol.2025.03.037","DOIUrl":"10.1016/j.ifacol.2025.03.037","url":null,"abstract":"<div><div>To ensure structural stability of fire service turntable ladders, the working range and actuator velocities are usually limited based on static calculations with conservative safety factors. Considering dynamic effects through an online stability measure may potentially allow for a more efficient limitation of ladder movements in future, aiming to enhance the performance of turntable ladders. Within this work, a rigid body model of a turntable ladder is derived enabling the elevation and extraction of the ladder parts as well as the outrigger lifting off the ground in case of vanishing contact force. The dynamic equations are derived using the Lagrange formalism. Subsequently, the dynamic stability measure NTOPv3 from Bennett (2019) is applied to assess a margin for the tip-over stability of the manipulator. Two exemplary trajectories are analyzed to examine the respective stability measure. These simulations reveal that initiating an emergency stop based on the stability measure prevents a possible tip-over. Therefore, the NTOPv3 measure is shown to be a useful tool for determining the position and velocities limits of the manipulator actuators of the turntable ladder.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 211-216"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
IFAC-PapersOnLinePub Date : 2025-01-01DOI: 10.1016/j.ifacol.2025.03.002
Zhiwei Wang , Lingchong Gao , Ziyun Kan , Michael Kleeberger , Johannes Fottner
{"title":"Dynamic Modeling and Numerical Calculation of a Hydraulic Actuated Flexible Knuckle Boom Crane","authors":"Zhiwei Wang , Lingchong Gao , Ziyun Kan , Michael Kleeberger , Johannes Fottner","doi":"10.1016/j.ifacol.2025.03.002","DOIUrl":"10.1016/j.ifacol.2025.03.002","url":null,"abstract":"<div><div>Due to its slender boom structure, the knuckle boom crane often undergoes significant elastic deformation when transporting heavy payloads in its fully extended configuration, adversely affecting operational efficiency and safety. Therefore, analyzing the crane’s strong geometrical nonlinear dynamic behavior is crucial for engineering applications. This paper presents a dynamic modeling and numerical integration method for a rigid-flexible coupling knuckle boom crane, which is subjected to structural constraints and actuated by hydraulic cylinders. In terms of dynamic modeling, the dynamic equations of the crane’s flexible boom are derived based on the geometrically exact Euler-Bernoulli beam theory while integrating the crane’s rigid multibody dynamic equations, structural constraint equations, and hydraulic state equations. This approach results in a comprehensive dynamic model of the crane. For numerical integration, we adopt the Newmark method and the implicit single-step trapezoidal discretization scheme to establish the discrete formulation for the mechanical structure and hydraulics, and derive the Jacobian matrix required for the Newton-Raphson iteration. Numerical simulations verify the effectiveness of the integration algorithm through a comparative analysis with the results obtained from ordinary differential equation solvers, and a dynamic analysis of a representative case study was subsequently conducted. This work contributes to the optimization of crane structures and the design of control systems.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 1-6"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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