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2020 28th Mediterranean Conference on Control and Automation (MED)最新文献

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Improvement of Low-Frequency Comfort through the design of CRONE-SkyHook Suspension Systems 通过CRONE-SkyHook悬架系统的设计改善低频舒适性
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182940
Emna Hamrouni, G. B. H. Frej, X. Moreau, André Benine-Neto, V. Hernette
{"title":"Improvement of Low-Frequency Comfort through the design of CRONE-SkyHook Suspension Systems","authors":"Emna Hamrouni, G. B. H. Frej, X. Moreau, André Benine-Neto, V. Hernette","doi":"10.1109/MED48518.2020.9182940","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182940","url":null,"abstract":"This paper deals with vehicle dynamics and focuses on Global Suspension Control. The aim is to improve low-frequency comfort, defined in the frequency range [0; 5] Hz, of an active suspension system. Therefore, an analysis and design approach is proposed on a functional scale. A target behavior of the equivalent open-loop, seen from the angle of low-frequency comfort, is generalized using CRONE-SkyHook (CSH) approach. The controller implemented on the validation model is therefore deduced. Simulation results show that requirements in terms of body handling under road solicitations and filtering are reached.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121684076","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
Fault-Tolerant Task Allocation in Networked Control Systems 网络控制系统中的容错任务分配
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182977
Kai Schenk, J. Lunze
{"title":"Fault-Tolerant Task Allocation in Networked Control Systems","authors":"Kai Schenk, J. Lunze","doi":"10.1109/MED48518.2020.9182977","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182977","url":null,"abstract":"Networked control systems are made fault tolerant in this paper by redistributing the control tasks of the subsystems in case of faults. Active fault tolerance is brought into the overall system by a cooperation of the faulty subsystems and the healthy subsystems rather than by trying to recover the nominal performance of the faulty subsystems. This paper states conditions under which reconfigurable tasks exist and provides a description of the design process of the fault-tolerant task allocation unit that determines the new tasks in dependency upon the fault case.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131487796","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
Image Based Visual Servoing for Multi Aerial Robots Formation 基于图像的多空中机器人编队视觉伺服
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182942
M. Bastourous, Jaafar Al-Tuwayyij, F. Guérin, F. Guinand
{"title":"Image Based Visual Servoing for Multi Aerial Robots Formation","authors":"M. Bastourous, Jaafar Al-Tuwayyij, F. Guérin, F. Guinand","doi":"10.1109/MED48518.2020.9182942","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182942","url":null,"abstract":"There are numerous advantages of flying in group over using single robot in mission execution. However this implies solving a crucial issue: the coordination between drones. Moreover, according to the targeted application, it may be necessary or desirable that drones fly following a given geometric shape (line, diamond, etc.), a problem known as formation control. Building and maintaining a spatial geometric shape while evolving within the environment usually requires extensive communications between the robots for coordinating their movements. In this work we focus on the use of an Image-Based Visual Servoing (IBVS) technique for building and maintaining a Leader-Follower (LF) configuration of multi aerial vehicles (UAVs) without communication. While most IBVS techniques either require rigor camera calibration or can not regulate the error according to the three robot axes, our approach avoids the calibration phase by relying on image moments features to provide a vision-based predictive compensation method. The follower robot's solution works in GNSS-denied conditions and can run using only on-board sensors. The method is validated through simulations for a group of three quadrotors.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131636833","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
Dissipation in suspension system augmented by piezoelectric stack: port-Hamiltonian approach 压电堆增强悬架系统的耗散:端口-哈密顿方法
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183317
Rafael Tavares, M. Ruderman
{"title":"Dissipation in suspension system augmented by piezoelectric stack: port-Hamiltonian approach","authors":"Rafael Tavares, M. Ruderman","doi":"10.1109/MED48518.2020.9183317","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183317","url":null,"abstract":"Analysis of damping in semi-active and active suspension systems is prerequisite for an advanced control and, eventually, energy harvesting functions. This paper addresses the damping in suspension system augmented by the piezoelectric (PE) stack. The Hamiltonian system approach with port-power modeling of single subsystems is used for describing and studying the dissipative properties of piezoelectric stack element, integrated in series with a standard quarter-car suspension. The slightly improved, compared to the underlying passive suspension system, frequency response of the sprung mass acceleration is demonstrated. Moreover, the overall power flow in the system, caused by the disturbing road profile, and the dissipated power due to PE-augmented suspension are analyzed and discussed in detail. The results of dissipation analysis provide helpful tools for further developments towards PE-based energy harvesting.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127834414","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
Development of an UWB based Indoor Positioning System 基于超宽带的室内定位系统的研制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183329
Marcell Molnár, T. Luspay
{"title":"Development of an UWB based Indoor Positioning System","authors":"Marcell Molnár, T. Luspay","doi":"10.1109/MED48518.2020.9183329","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183329","url":null,"abstract":"The demand for precise indoor positioning is increasing nowadays, since traditional methods, like GPS, cannot be used in indoor environments. Lots of technologies exist that can be used for such purposes, having their own advantages and disadvantages when it comes to positioning. However, it seems that UWB is the most favorable, having the possibility to achieve the best accuracy due to its spectral features. Although, in the past years several companies appeared as a UWB chip and antenna manufacturer providing out-of-the-box solutions, most of them only have chips or demonstration kits to purchase. The paper shows the development and testing of an UWB indoor positioning system using commercially available hardware and specific software elements in order to allow flexibility required for research purposes.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"606 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132918143","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
Ethical Considerations for a Decision Making System for Autonomous Vehicles During an Inevitable Collision 不可避免碰撞时自动驾驶汽车决策系统的伦理考虑
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183263
Lalis Millán-Blanquel, S. Veres, R. Purshouse
{"title":"Ethical Considerations for a Decision Making System for Autonomous Vehicles During an Inevitable Collision","authors":"Lalis Millán-Blanquel, S. Veres, R. Purshouse","doi":"10.1109/MED48518.2020.9183263","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183263","url":null,"abstract":"The automotive industry is heading towards the introduction of fully autonomous vehicles. However before these type of vehicles are commercially available at mass scale, some issues need to be solved. A major issue is the ethics involved in the decision-making during an accident; this paper presents an analysis of how to solve this issue. The proposal is a pre-programmed system with different ethical settings based on six formal ethical theories. For the implementation, eight ethical concerns are defined and ordered according to each theory. These concerns are defined in terms of harm to self and harm to others. The ethical concerns are used as a guideline to define the level of importance of each person or object in an accident scenario. With the proposed system, the vehicle will be partially tailored to the preferences of different users while still being bounded by legal requirements to avoid any misuse.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"259 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133519440","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: 4
PCA Methods and Evidence Based Filtering for Robust Aircraft Sensor Fault Diagnosis 鲁棒飞机传感器故障诊断的PCA方法和基于证据的滤波
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182973
N. Cartocci, G. Costante, M. Napolitano, P. Valigi, F. Crocetti, M. L. Fravolini
{"title":"PCA Methods and Evidence Based Filtering for Robust Aircraft Sensor Fault Diagnosis","authors":"N. Cartocci, G. Costante, M. Napolitano, P. Valigi, F. Crocetti, M. L. Fravolini","doi":"10.1109/MED48518.2020.9182973","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182973","url":null,"abstract":"In this paper PCA and D-PCA techniques are applied for the design of a Data Driven diagnostic Fault Isolation (FI) and Fault Estimation (FE) scheme for 18 primary sensors of a semi-autonomous aircraft. Specifically, Contributions-based, and Reconstruction-based Contributions approaches have been considered. To improve FI performance an inference mechanism derived from evidence-based decision making theory has been proposed. A detailed FI and FE study is presented for the True Airspeed sensor based on experimental data. Evidence Based Filtering (EBF) showed to be very effective particularly in reducing false alarms.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133738472","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: 4
Robustness Estimation of Large Deviations in Linear Stable Systems with the Sensitivity Analysis 基于灵敏度分析的线性稳定系统大偏差鲁棒性估计
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183033
N. Vunder, N. Dudarenko
{"title":"Robustness Estimation of Large Deviations in Linear Stable Systems with the Sensitivity Analysis","authors":"N. Vunder, N. Dudarenko","doi":"10.1109/MED48518.2020.9183033","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183033","url":null,"abstract":"The article deals with robustness estimation of large deviations in free motion of continuous-time systems due to parameter variations in the state matrix. It is assumed that parameters of the system are linearly dependent on the uncertainties. The problem is solved with the state space approach and the sensitivity theory methods. An upper bound estimation of trajectory deviations for continuous-time systems is obtained. The estimation contains the condition number of the eigenvectors matrix of the system state matrix. Therefore, sensitivity functions of singular values of the eigenvectors matrix are used to calculate the robustness estimation of the deviations. Based on the obtained equations, an algorithm for the robustness estimation of large deviations in linear continuous-time systems with parametric uncertainties is proposed. The results are supported with an example.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"48 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134260759","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
Indoor Localization and Mapping: Towards Tracking Resilience Through a Multi-SLAM Approach 室内定位和制图:通过多slam方法跟踪弹性
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182794
P. Alliez, Fabien Bonardi, S. Bouchafa, Jean-Yves Didier, H. Hadj-Abdelkader, F. I. Muñoz, V. Kachurka, Bastien Rault, Maxime Robin, D. Roussel
{"title":"Indoor Localization and Mapping: Towards Tracking Resilience Through a Multi-SLAM Approach","authors":"P. Alliez, Fabien Bonardi, S. Bouchafa, Jean-Yves Didier, H. Hadj-Abdelkader, F. I. Muñoz, V. Kachurka, Bastien Rault, Maxime Robin, D. Roussel","doi":"10.1109/MED48518.2020.9182794","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182794","url":null,"abstract":"This paper presents a use case for SLAM techniques applied to real time localization and detailed mapping for emergency response personnel in non cooperative environments. Such environments tend to defeat conventional localization approaches, therefore we must ensure continuous operation of our localization and mapping regardless of the difficulties encountered (lack of GPS signals, lighting conditions, smoke, etc.). The proposed system fuses two SLAM algorithms, a LiDAR-based and a camera-based. Since LiDAR-based SLAM uses dense 3D measurements, it is well suited to the construction of a detailed map, while the visual SLAM allows to quickly recognize already visited places in order to apply loop closure corrections, by using a key frames graph. The currently proposed system allows collaboration between these two SLAMs through pose sharing and relocalization.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133142641","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: 4
A New Sample-Efficient PAC Reinforcement Learning Algorithm 一种新的样本高效PAC强化学习算法
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182985
A. Zehfroosh, H. Tanner
{"title":"A New Sample-Efficient PAC Reinforcement Learning Algorithm","authors":"A. Zehfroosh, H. Tanner","doi":"10.1109/MED48518.2020.9182985","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182985","url":null,"abstract":"This paper introduces a new hybrid PAC RL algorithm for MDPS, which intelligently maintains favorable features of its parents. The DDQ algorithm, integrates model-free and model-based learning approaches, preserving some advantages from both. A PAC analysis of the DDQ algorithm is presented and its sample complexity is explicitly bounded. Numerical results from a small-scale example motivated by work on human-robot interaction models corroborates the theoretical predictions on sample complexity.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115189845","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
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