arXiv - CS - Systems and Control最新文献

Human-Variability-Respecting Optimal Control for Physical Human-Machine Interaction 物理人机交互的 "尊重人的可变性 "优化控制

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03502

Sean Kille, Paul Leibold, Philipp Karg, Balint Varga, Sören Hohmann

{"title":"Human-Variability-Respecting Optimal Control for Physical Human-Machine Interaction","authors":"Sean Kille, Paul Leibold, Philipp Karg, Balint Varga, Sören Hohmann","doi":"arxiv-2405.03502","DOIUrl":"https://doi.org/arxiv-2405.03502","url":null,"abstract":"Physical Human-Machine Interaction plays a pivotal role in facilitating\u0000collaboration across various domains. When designing appropriate model-based\u0000controllers to assist a human in the interaction, the accuracy of the human\u0000model is crucial for the resulting overall behavior of the coupled system. When\u0000looking at state-of-the-art control approaches, most methods rely on a\u0000deterministic model or no model at all of the human behavior. This poses a gap\u0000to the current neuroscientific standard regarding human movement modeling,\u0000which uses stochastic optimal control models that include signal-dependent\u0000noise processes and therefore describe the human behavior much more accurate\u0000than the deterministic counterparts. To close this gap by including these\u0000stochastic human models in the control design, we introduce a novel design\u0000methodology resulting in a Human-Variability-Respecting Optimal Control that\u0000explicitly incorporates the human noise processes and their influence on the\u0000mean and variability behavior of a physically coupled human-machine system. Our\u0000approach results in an improved overall system performance, i.e. higher\u0000accuracy and lower variability in target point reaching, while allowing to\u0000shape the joint variability, for example to preserve human natural variability\u0000patterns.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"27 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140882120","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

Experimental Investigation of Repurposed Kaplan Turbines as Variable-Speed Propellers for Maximizing Frequency Containment Reserve 将卡普兰涡轮机重新用作变速推进器以最大化频率控制储备的实验研究

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03201

Francesco Gerini, Elena Vagnoni, Martin Seydoux, Rachid Cherkaoui, Mario Paolone

{"title":"Experimental Investigation of Repurposed Kaplan Turbines as Variable-Speed Propellers for Maximizing Frequency Containment Reserve","authors":"Francesco Gerini, Elena Vagnoni, Martin Seydoux, Rachid Cherkaoui, Mario Paolone","doi":"arxiv-2405.03201","DOIUrl":"https://doi.org/arxiv-2405.03201","url":null,"abstract":"This study explores the practical viability of repurposing aging Kaplan\u0000turbines into variable-speed propellers by employing full-size frequency\u0000converters. The motivation behind this approach is to improve the provision of\u0000emph{Frequency Containment Reserve} (FCR) while reducing fatigue in the Kaplan\u0000blades servomechanism. We evaluate the performance of these modified Kaplan\u0000turbines against the one of another hydro asset composed of the same Kaplan\u0000turbine hybridized with a emph{Battery Energy Storage System} (BESS).\u0000Experiments are conducted on a one-of-its-kind reduced-scale model testing\u0000platform. Our findings reveal that Kaplan turbines repurposed as variable-speed\u0000propellers exhibit similar dynamic response characteristics compared to the\u0000standalone Kaplan operation, with the added benefit of effectively eliminating\u0000blade movements. Furthermore, the ability to control the speed increases the\u0000hydraulic efficiency for certain operating points. In summary, investment in\u0000variable speed technology emerges as a viable alternative to BESS-based\u0000hydropower hybridization.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"28 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140882517","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

Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino 基于模型和数据的自平衡机器人控制：使用 LabVIEW 和 Arduino 的实用教育方法

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03561

Abdelrahman Abdelgawad, Tarek Shohdy, Ayman Nada

{"title":"Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino","authors":"Abdelrahman Abdelgawad, Tarek Shohdy, Ayman Nada","doi":"arxiv-2405.03561","DOIUrl":"https://doi.org/arxiv-2405.03561","url":null,"abstract":"A two-wheeled self-balancing robot (TWSBR) is non-linear and unstable system.\u0000This study compares the performance of model-based and data-based control\u0000strategies for TWSBRs, with an explicit practical educational approach.\u0000Model-based control (MBC) algorithms such as Lead-Lag and PID control require a\u0000proficient dynamic modeling and mathematical manipulation to drive the\u0000linearized equations of motions and develop the appropriate controller. On the\u0000other side, data-based control (DBC) methods, like fuzzy control, provide a\u0000simpler and quicker approach to designing effective controllers without needing\u0000in-depth understanding of the system model. In this paper, the advantages and\u0000disadvantages of both MBC and DBC using a TWSBR are illustrated. All\u0000controllers were implemented and tested on the OSOYOO self-balancing kit,\u0000including an Arduino microcontroller, MPU-6050 sensor, and DC motors. The\u0000control law and the user interface are constructed using the LabVIEW-LINX\u0000toolkit. A real-time hardware-in-loop experiment validates the results,\u0000highlighting controllers that can be implemented on a cost-effective platform.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"16 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140882338","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

A Valuation Framework for Customers Impacted by Extreme Temperature-Related Outages 受极端温度停电影响的客户估值框架

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03575

Min Gyung Yu, Monish Mukherjee, Shiva Poudela, Sadie R. Bender, Sarmad Hanif, Trevor D. Hardy, Hayden M. Reeve

{"title":"A Valuation Framework for Customers Impacted by Extreme Temperature-Related Outages","authors":"Min Gyung Yu, Monish Mukherjee, Shiva Poudela, Sadie R. Bender, Sarmad Hanif, Trevor D. Hardy, Hayden M. Reeve","doi":"arxiv-2405.03575","DOIUrl":"https://doi.org/arxiv-2405.03575","url":null,"abstract":"Extreme temperature outages can lead to not just economic losses but also\u0000various non-energy impacts (NEI) due to significant degradation of indoor\u0000operating conditions caused by service disruptions. However, existing\u0000resilience assessment approaches lack specificity for extreme temperature\u0000conditions. They often overlook temperature-related mortality and neglect the\u0000customer characteristics and grid response in the calculation, despite the\u0000significant influence of these factors on NEI-related economic losses. This\u0000paper aims to address these gaps by introducing a comprehensive framework to\u0000estimate the impact of resilience enhancement not only on the direct economic\u0000losses incurred by customers but also on potential NEI, including mortality and\u0000the value of statistical life during extreme temperature-related outages. The\u0000proposed resilience valuation integrates customer characteristics and grid\u0000response variables based on a scalable grid simulation environment. This study\u0000adopts a holistic approach to quantify customer-oriented economic impacts,\u0000utilizing probabilistic loss scenarios that incorporate health-related factors\u0000and damage/loss models as a function of exposure for valuation. The proposed\u0000methodology is demonstrated through comparative resilient outage planning,\u0000using grid response models emulating a Texas weather zone during the 2021\u0000winter storm Uri. The case study results show that enhanced outage planning\u0000with hardened infrastructure can improve the system resilience and thereby\u0000reduce the relative risk of mortality by 16% and save the total costs related\u0000to non-energy impacts by 74%. These findings underscore the efficacy of the\u0000framework by assessing the financial implications of each case, providing\u0000valuable insights for decision-makers and stakeholders involved in\u0000extreme-weather related resilience planning for risk management and mitigation\u0000strategies.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140882121","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

How improving performance may imply losing consistency in event-triggered consensus 提高性能可能意味着在事件触发式共识中失去一致性

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03245

David Meister, Duarte J. Antunes, Frank Allgöwer

{"title":"How improving performance may imply losing consistency in event-triggered consensus","authors":"David Meister, Duarte J. Antunes, Frank Allgöwer","doi":"arxiv-2405.03245","DOIUrl":"https://doi.org/arxiv-2405.03245","url":null,"abstract":"Event-triggered control is often argued to lower the average triggering rate\u0000compared to time-triggered control while still achieving a desired control\u0000goal, e.g., the same performance level. However, this property, often called\u0000consistency, cannot be taken for granted and can be hard to analyze in many\u0000settings. In particular, although numerous decentralized event-triggered\u0000control schemes have been proposed in the past years, their performance\u0000properties with respect to time-triggered control remain mostly unexplored. In\u0000this paper, we therefore examine the performance properties of event-triggered\u0000control (relative to time-triggered control) for a single-integrator consensus\u0000problem with a level-triggering rule. We consider the long-term average\u0000quadratic deviation from consensus as a performance measure. For this setting,\u0000we show that enriching the information the local controllers use improves the\u0000performance of the consensus algorithm but renders a previously consistent\u0000event-triggered control scheme inconsistent. In addition, we do so while\u0000deploying optimal control inputs which we derive for both information cases and\u0000all triggering schemes. With this insight, we can furthermore explain the\u0000relationship between two contrasting consistency results from the literature on\u0000decentralized event-triggered control. We support our theoretical findings with\u0000simulation results.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140882284","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

Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control 不确定性条件下的运动规划：将基于学习的多模式预测器集成到分支模型预测控制中

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03470

Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring, Joerg Reichardt

引用次数: 0

On the constrained feedback linearization control based on the MILP representation of a ReLU-ANN 基于 ReLU-ANN 的 MILP 表示的约束反馈线性化控制

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03334

Huu-Thinh Do, Ionela Prodan

引用次数: 0

Managing Renewable Energy Resources Using Equity-Market Risk Tools - the Efficient Frontiers 利用股票市场风险工具管理可再生能源--高效前沿

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03482

Haim Grebel, Divya Vikas, Jim Shi

引用次数: 0

Compression-based Privacy Preservation for Distributed Nash Equilibrium Seeking in Aggregative Games 基于压缩的聚合博弈中分布式纳什均衡寻求的隐私保护

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03106

Wei Huo, Xiaomeng Chen, Kemi Ding, Subhrakanti Dey, Ling Shi

引用次数: 0

On-site scale factor linearity calibration of MEMS triaxial gyroscopes MEMS 三轴陀螺仪的现场标度因数线性校准

arXiv - CS - Systems and Control Pub Date : 2024-05-06 DOI: arxiv-2405.03393

Yaqi Li, Li Wang, Zhitao Wang, Xiangqing Li, Jiaojiao Li, Steven weidong Su

{"title":"On-site scale factor linearity calibration of MEMS triaxial gyroscopes","authors":"Yaqi Li, Li Wang, Zhitao Wang, Xiangqing Li, Jiaojiao Li, Steven weidong Su","doi":"arxiv-2405.03393","DOIUrl":"https://doi.org/arxiv-2405.03393","url":null,"abstract":"The calibration of MEMS triaxial gyroscopes is crucial for achieving precise\u0000attitude estimation for various wearable health monitoring applications.\u0000However, gyroscope calibration poses greater challenges compared to\u0000accelerometers and magnetometers. This paper introduces an efficient method for\u0000calibrating MEMS triaxial gyroscopes via only a servo motor, making it\u0000well-suited for field environments. The core strategy of the method involves\u0000utilizing the fact that the dot product of the measured gravity and the\u0000rotational speed in a fixed frame remains constant. To eliminate the influence\u0000of rotating centrifugal force on the accelerometer, the accelerometer data is\u0000measured while stationary. The proposed calibration experiment scheme, which\u0000allows gyroscopic measurements when operating each axis at a specific rotation\u0000speed, making it easier to evaluate the linearity across a related speed range\u0000constituted by a series of rotation speeds. Moreover, solely the classical\u0000least squares algorithm proves adequate for estimating the scale factor,\u0000notably streamlining the analysis of the calibration process. Extensive\u0000numerical simulations were conducted to analyze the proposed method's\u0000performance in calibrating a triaxial gyroscope model. Experimental validation\u0000was also carried out using a commercially available MEMS inertial measurement\u0000unit (LSM9DS1 from Arduino nano 33 BLE SENSE) and a servo motor capable of\u0000controlling precise speed. The experimental results effectively demonstrate the\u0000efficacy of the proposed calibration approach.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"36 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140882289","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