Control Engineering and Applied Informatics最新文献

Sensorless Induction Motor Drive Using Modified Integral Sliding Mode Control-Based MRAS 基于改进积分滑模控制的MRAS的无传感器感应电机驱动

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8563

Hau Huu Vo

引用次数: 0

Development of Stand-Alone Photovoltaic System Test-Bed using Neural Network based Solar PV Array Emulator 基于神经网络的太阳能光伏阵列仿真器单机光伏系统试验台的研制

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8106

Ulaganathan M, Devaraj D, Muniraj R

引用次数: 0

Development of angular correction algorithm for movement of agricultural mobile robots in a straight line 农业移动机器人直线运动角校正算法的开发

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8326

Ilker UNAL

{"title":"Development of angular correction algorithm for movement of agricultural mobile robots in a straight line","authors":"Ilker UNAL","doi":"10.61416/ceai.v25i3.8326","DOIUrl":"https://doi.org/10.61416/ceai.v25i3.8326","url":null,"abstract":"This paper proposes the angular correction algorithm for the autonomous navigation of the agricultural mobile robots, which are driven in a straight line, with simple hardware based on the data of the digital compass and the GPS receiver. The motion of the mobile robot was accomplished by the differential drive mechanism with four driving wheels in which the overall velocity is split between left and right wheels. The two-channel DC motor controller was used to drive motors. The digital compass was used to calculate the position angle of the mobile robot with respect to the target point. A Kalman filter was used to fuse the information from GPS and digital compass. In the proposed algorithm, the mobile robot is driven in a straight line along a predefined path by calculating in real time the deviation angle difference with respect to the target point. When the robot encounters an unexpected external force varying the desired path, it achieves a smooth and stabilized straight line movement by correcting the deviation angle difference. The performance of the mobile robot was evaluated based on a total of 18 straight lines in a farmland. Standard errors of cross track error (XTE) values of straight lines for each target point were analyzed. The mean of arithmetic means was found to be 4.14 cm. The mean of R-square was 0.990. This value shows that the proposed angular correction algorithm is useful in driving the mobile robot in a straight line. DOI: 10.61416/ceai.v25i3.8326","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134958363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improving Position-Time Trajectory Accuracy in Vehicle Stop-and-Go Scenarios by Using a Mobile Robot as a Testbed 以移动机器人为试验台提高车辆走走停停场景下的位置-时间轨迹精度

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8365

Murat Bakirci, Mecit Cetin

{"title":"Improving Position-Time Trajectory Accuracy in Vehicle Stop-and-Go Scenarios by Using a Mobile Robot as a Testbed","authors":"Murat Bakirci, Mecit Cetin","doi":"10.61416/ceai.v25i3.8365","DOIUrl":"https://doi.org/10.61416/ceai.v25i3.8365","url":null,"abstract":"This study sets an example of how mobile robotic vehicles can be used effectively in research on intelligent transportation systems. Especially the stop-and-go mobility seen in heavy traffic conditions was simulated with a mobile robot, and the study is focused on how to obtain distance-time trajectories more accurately under these conditions. System identification tests of the mobile robotic platform, whose kinematic model was developed, were also carried out, and all solutions regarding robot movement were obtained. For the congested traffic simulation, various stop-and-go points are designated on a predetermined straight route segment to mimic behavior of a vehicle in congested traffic. Robot trajectories were obtained under different scenarios by using both GPS data and a kinematic model through the utilization of motor encoders. More accurate and consistent trajectories were achieved by fusing these trajectories with the Extended Kalman Filter. The main contribution of this study is demonstrating how the number of stop-and-go positions can improve the accuracy in estimating the robot/vehicle trajectory. The paper shows how the cumulative error in predicting the trajectories in reduced as the number of stops increases. For example, the trajectory estimated for a scenario involving five stop-and-go points is 94% more accurate than that for the case with a single stop. DOI: 10.61416/ceai.v25i3.8365","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134958359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Synchronization Control for Discrete-Time Delayed Complex Cyber-Physical Networks Under False Data Injection Attacks 伪数据注入攻击下离散时延复杂网络的同步控制

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8360

Chaoqun Zhu, Xuan Jia, Pan Zhang

{"title":"Synchronization Control for Discrete-Time Delayed Complex Cyber-Physical Networks Under False Data Injection Attacks","authors":"Chaoqun Zhu, Xuan Jia, Pan Zhang","doi":"10.61416/ceai.v25i3.8360","DOIUrl":"https://doi.org/10.61416/ceai.v25i3.8360","url":null,"abstract":"This paper is concerned with the synchronization control problem for discrete-time complex cyber-physical networks with mixed delays and false data injection attacks. The polytopic model of closed-loop synchronization error dynamics is established by considering the pattern characteristics of false data injection attacks and input delays, which has essentially different from the traditional handling method. More specifically, the proposed polytopic model utilizes the current state of the closed-loop synchronization error dynamics, thereby facilitating the reduction of possible conservatism. In such a framework, a nonlinear synchronization control method is developed to eliminate the negative impact of cyber attacks, and sufficient conditions are derived to guarantee that the closed-loop error dynamics ultimately exponentially bounded. In the meanwhile, the design procedure of the synchronization controller is proposed for underlying complex cyber-physical networks subject to mixed delays and false data injection attacks. Finally, an illustrative example is delivered to demonstrate the effectiveness of the proposed method. DOI: 10.61416/ceai.v25i3.8360","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134958502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Precise and Adaptive Graph Regularized Low Rank Representation Model for Recognizing Oil-bearing 一种精确自适应的图正则化低秩表示含油识别模型

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8650

Kehong Yuan, Youlin Shang, Haixiang Guo, Shaofei Zang, Zhonghua Liu

{"title":"A Precise and Adaptive Graph Regularized Low Rank Representation Model for Recognizing Oil-bearing","authors":"Kehong Yuan, Youlin Shang, Haixiang Guo, Shaofei Zang, Zhonghua Liu","doi":"10.61416/ceai.v25i3.8650","DOIUrl":"https://doi.org/10.61416/ceai.v25i3.8650","url":null,"abstract":"The recognition of oil-bearing formation is an important part in oil exploration, and recognition technology influences the predictive accuracy and efficiency. Low rank representation (LRR) has aroused much attention in the field of data mining. As a modified version, the low rank representation with adaptive graph regularization (LRR-AGR) exploits the global and local information of data for graph learning, and it simultaneously integrates distance regularization term, non-negative constraint and a rank constraint into the framework of LRR. However, how to balance these regularization terms according to the data greatly limits its clustering performance. To adaptively balance these regularization terms according to data and further improve the clustering performance, we propose a novel model named low-rank representation with adaptive parameters and graph regularization (LRR-APGR) in this paper. Firstly, a novel parameter optimization model is formulated and designed based on the framework of LRR-AGR and the feedback mechanism. Secondly, two global intelligent optimization algorithms, which can effectively solve the parameter optimization problem are presented based on particle swarm optimization (PSO) in multi-dimensional continuous space. Experimental results on the data oilsk81, oilsk83 and oilsk85 wells of Jianghan oil fields in China show that the proposed method can significantly improve the clustering performance and the predictive accuracy. DOI: 10.61416/ceai.v25i3.8650","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134958491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Patient-Oriented Control of A Rehabilitation Assistance Upper Exoskeleton 一种康复辅助上肢外骨骼的设计与病人导向控制

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI: 10.61416/ceai.v25i3.8341

Huu-Toan Tran, Son Manh Tran

{"title":"Design and Patient-Oriented Control of A Rehabilitation Assistance Upper Exoskeleton","authors":"Huu-Toan Tran, Son Manh Tran","doi":"10.61416/ceai.v25i3.8341","DOIUrl":"https://doi.org/10.61416/ceai.v25i3.8341","url":null,"abstract":"Inspired by the difficulties behind specification requirements as well as realizing the applicable capacity of upper exoskeleton robots, this paper presents the design and development of an original prototype of Rehabilitation Assistance UPper EXoskeleton (RAUPEX). The exoskeleton is designed through the analysis of human's upper limb biomechanics and dynamics. Based on the requirements of human joint power, the solutions of mechanism and actuator for the exoskeleton are drawn. During development of the exoskeleton, a basic control hardware is built to ensure real-time control performance besides a custom-built control panel for users. A patient-oriented control strategy allows RAUPEX to assist patients with various disability level in rehabilitation. The robot's applicable efficiency has been evaluated through rehabilitation training tests on healthy persons as quasi-patients via fundamental criteria in the exoskeleton development. Normalized square sum of angular operator-exoskeleton errors that is $(25.3pm2.45)times10^{-3}$ for active control and is $(5.89pm0.42)times10^{-3}$ for passive control. Moreover, the resulting operator-exoskeleton interaction force which is maximum of $7.75$ N at upper arm and $4.32$ N at lower arm enables RAUPEX to accurately assist rehabilitation exercises without discomfort. Over $87%$ of experimental participants claimed to feel comfortable which proves the developed exoskeleton has the potential to increase efficiency and adaptation to users during rehabilitation procedure. DOI: 10.61416/ceai.v25i3.8341","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134958361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust Path Planning Of Obstacle Avoidance For Unmanned delivery robot 无人配送机器人的鲁棒避障路径规划

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-06-28 DOI: 10.61416/ceai.v25i2.8595

Mushu Wang, Xingxue Dong, Weigang Pan, Song Gao, Shuxin Wang

引用次数: 0

Linked Data Semantic Distance with Global Normalization for evaluating Semantic Similarity in a Taxonomy 用全局归一化评价分类中语义相似度的关联数据语义距离

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-06-28 DOI: 10.61416/ceai.v25i2.8353

Anna Formica, Francesco Taglino

引用次数: 0

Extension of the clustering identification by extending the Density Based Spatial Clustering of Applications with Noise approach to Multi-Input Multi-Output Piece Wise Affine systems: Application to an industrial robot 多输入多输出片仿射系统中基于噪声的密度空间聚类应用的聚类识别扩展:在工业机器人上的应用

4区计算机科学

Control Engineering and Applied Informatics Pub Date : 2023-06-28 DOI: 10.61416/ceai.v25i2.8523

Zeineb Lassoued, Kamel Abderrahim

{"title":"Extension of the clustering identification by extending the Density Based Spatial Clustering of Applications with Noise approach to Multi-Input Multi-Output Piece Wise Affine systems: Application to an industrial robot","authors":"Zeineb Lassoued, Kamel Abderrahim","doi":"10.61416/ceai.v25i2.8523","DOIUrl":"https://doi.org/10.61416/ceai.v25i2.8523","url":null,"abstract":"In this paper the problem of clustering based identificationof a Multi-Input Multi-Output (MIMO) PieceWise Affinesystems (PWA) is considered. This approach, originallydesigned for systems with a Multiple-Input Single-Output(MISO) structure, is carried out by three main steps whichare data clustering, parameters vectors estimation and regionscomputing. Data clustering is the most important stepbecause the two other steps depend on the results given bythe used clustering algorithm. In case of MIMO PWA systems,we should cluster matrices of parametres which areconsidered high dimensionnal data. However, most of theconventional clustering algorithms do not work well in termsof effectiveness and efficiency since the similarity assessmentwhich is based on the distances between objects is fruitlessin high dimension space. Therefore, we propose an extensionof the DBSCAN (Density Based Spatial Clusteringof Applications with Noise) clustering approach for the identificationof MIMO PWA systems. The simulation resultspresented in this paper prouve the performance of the suggestedapproach. An application of the proposed approachto an industrial robot manipulator is also presented in orderto validate the simulation results. DOI: 10.61416/ceai.v25i2.8523","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135354263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0