Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961476
A. Kizilkale, R. Malhamé
As part of a system wide optimization problem in smart grids it is required that the mean temperature of a massive number of space heating devices associated with energy storage follows a computed target temperature trajectory. The classical control approach is to compute the required signal centrally for each device and to send that signal. However, the corresponding computational and communication requirements can be forbidding. Instead, in this paper the presence of large numbers of heaters justifies the use of a decentralized mean field control based approach to the problem. A novel agent cost structure including an integral term is utilized for this purpose. The corresponding system of mean field equations is developed, a fixed point analysis is given, an e-Nash theorem is presented, and numerical simulation results are provided.
{"title":"Collective target tracking mean field control for electric space heaters","authors":"A. Kizilkale, R. Malhamé","doi":"10.1109/MED.2014.6961476","DOIUrl":"https://doi.org/10.1109/MED.2014.6961476","url":null,"abstract":"As part of a system wide optimization problem in smart grids it is required that the mean temperature of a massive number of space heating devices associated with energy storage follows a computed target temperature trajectory. The classical control approach is to compute the required signal centrally for each device and to send that signal. However, the corresponding computational and communication requirements can be forbidding. Instead, in this paper the presence of large numbers of heaters justifies the use of a decentralized mean field control based approach to the problem. A novel agent cost structure including an integral term is utilized for this purpose. The corresponding system of mean field equations is developed, a fixed point analysis is given, an e-Nash theorem is presented, and numerical simulation results are provided.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"14 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126732551","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961509
M. T. Hamood, K. Gaeid, Sufian H. Ali
This paper presents an efficient vector-radix fast Hartley transform (VR-22×22-FHT) algorithm for computing the two dimensional discrete Hartley transform (2-D DHT). The proposed algorithm achieves, at the same time, both the speed advantage of the vector-radix-4×4 FHT algorithm and the simplest structural complexity offered by vector-radix-2×2 algorithm. The algorithm is implemented its arithmetic complexity is analysed and compared to the existing 2-D FHT algorithms such as row-column (RC) approach and vector-radix (VR). The result of this comparison has shown that the proposed algorithm significantly reduces the number of operations compared to RC approach and noticeably better performance than VR algorithm.
{"title":"New vector-radix algorithm for computing two-dimensional discrete Hartley transform","authors":"M. T. Hamood, K. Gaeid, Sufian H. Ali","doi":"10.1109/MED.2014.6961509","DOIUrl":"https://doi.org/10.1109/MED.2014.6961509","url":null,"abstract":"This paper presents an efficient vector-radix fast Hartley transform (VR-22×22-FHT) algorithm for computing the two dimensional discrete Hartley transform (2-D DHT). The proposed algorithm achieves, at the same time, both the speed advantage of the vector-radix-4×4 FHT algorithm and the simplest structural complexity offered by vector-radix-2×2 algorithm. The algorithm is implemented its arithmetic complexity is analysed and compared to the existing 2-D FHT algorithms such as row-column (RC) approach and vector-radix (VR). The result of this comparison has shown that the proposed algorithm significantly reduces the number of operations compared to RC approach and noticeably better performance than VR algorithm.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115068208","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961586
Chadia Zayane-Aissa, T. Laleg‐Kirati
This paper addresses the case of physiological states reconstruction in a small region of the brain under modeling uncertainties. The misunderstood coupling between the cerebral blood volume and the oxygen extraction fraction has lead to a partial knowledge of the so-called balloon model describing the hemodynamic behavior of the brain. To overcome this difficulty, a High Order Sliding Mode observer is applied to the balloon system, where the unknown coupling is considered as an internal perturbation. The effectiveness of the proposed method is illustrated through a set of synthetic data that mimic fMRI experiments.
{"title":"A sliding mode observer for hemodynamic characterization under modeling uncertainties","authors":"Chadia Zayane-Aissa, T. Laleg‐Kirati","doi":"10.1109/MED.2014.6961586","DOIUrl":"https://doi.org/10.1109/MED.2014.6961586","url":null,"abstract":"This paper addresses the case of physiological states reconstruction in a small region of the brain under modeling uncertainties. The misunderstood coupling between the cerebral blood volume and the oxygen extraction fraction has lead to a partial knowledge of the so-called balloon model describing the hemodynamic behavior of the brain. To overcome this difficulty, a High Order Sliding Mode observer is applied to the balloon system, where the unknown coupling is considered as an internal perturbation. The effectiveness of the proposed method is illustrated through a set of synthetic data that mimic fMRI experiments.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129560883","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961378
D. Lefebvre, E. Leclercq
This paper is about trajectory tracking for DESs. The main contribution is to compute incrementally control sequences approaching the minimal length sequences. The method is based on a partial exploration of the PN reachability graph and inspired from the MPC approach. The method is suitable for bounded and unbounded PNs. It also works for PNs with weighted arcs and for PNs with some uncontrollable transitions.
{"title":"An algorithm based on model predictive control for trajectories tracking with untimed PNs","authors":"D. Lefebvre, E. Leclercq","doi":"10.1109/MED.2014.6961378","DOIUrl":"https://doi.org/10.1109/MED.2014.6961378","url":null,"abstract":"This paper is about trajectory tracking for DESs. The main contribution is to compute incrementally control sequences approaching the minimal length sequences. The method is based on a partial exploration of the PN reachability graph and inspired from the MPC approach. The method is suitable for bounded and unbounded PNs. It also works for PNs with weighted arcs and for PNs with some uncontrollable transitions.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128271272","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961590
E. Kelasidi, K. Pettersen, J. Gravdahl
In this paper, a waypoint guidance strategy is proposed for an underwater snake robot. The robot is directed to follow a path which is derived using path planning techniques. A first version of the path is derived by the path planner by using the artificial potential field method for obstacle avoidance. Afterwards, by subsampling the derived path, a set of waypoints are chosen along the path. The path is then defined by interconnecting these waypoints by straight lines. Secondly, a straight line path following controller is proposed, to make the underwater snake robot follow the desired path. Simulation results are presented, illustrating the performance of the proposed guidance control strategy for both lateral undulation and eel-like motion.
{"title":"A waypoint guidance strategy for underwater snake robots","authors":"E. Kelasidi, K. Pettersen, J. Gravdahl","doi":"10.1109/MED.2014.6961590","DOIUrl":"https://doi.org/10.1109/MED.2014.6961590","url":null,"abstract":"In this paper, a waypoint guidance strategy is proposed for an underwater snake robot. The robot is directed to follow a path which is derived using path planning techniques. A first version of the path is derived by the path planner by using the artificial potential field method for obstacle avoidance. Afterwards, by subsampling the derived path, a set of waypoints are chosen along the path. The path is then defined by interconnecting these waypoints by straight lines. Secondly, a straight line path following controller is proposed, to make the underwater snake robot follow the desired path. Simulation results are presented, illustrating the performance of the proposed guidance control strategy for both lateral undulation and eel-like motion.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128354714","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961551
M. Poderico, G. Morani, F. Corraro
This paper proposes a new Fault Tolerant Control Strategy relying on Fault Detection, Isolation and Reconfiguration (FDIR) algorithms. Adaptive Control laws are combined to Control Allocation algorithms that enable the reconfiguration of Flight Control Laws in case of actuators and/or Reaction Control System (RCS) failures. This allows achieving good robustness to possible failures occurring during flight and, at the same time, to optimize the use of a hybrid set of control effectors (i.e. aerodynamic surfaces and Reaction Control System) such to reduce thrusters fuel consumption. Fault Detection and Isolation (FDI) algorithms provide the required information about the health status of actuators/RCS thus enabling the reconfiguration of Flight Control Laws. The effectiveness of the proposed approach has been preliminarily demonstrated through a numerical analysis that accounts for both nominal and failures scenario, by using a 6Dof Model of Flying Test Bed FTB3, developed by Italian Aerospace Research Centre in the framework of Unmanned Space Vehicle (USV) Program.
{"title":"Fault detection isolation and reconfiguration algorithms for atmospheric re-entry","authors":"M. Poderico, G. Morani, F. Corraro","doi":"10.1109/MED.2014.6961551","DOIUrl":"https://doi.org/10.1109/MED.2014.6961551","url":null,"abstract":"This paper proposes a new Fault Tolerant Control Strategy relying on Fault Detection, Isolation and Reconfiguration (FDIR) algorithms. Adaptive Control laws are combined to Control Allocation algorithms that enable the reconfiguration of Flight Control Laws in case of actuators and/or Reaction Control System (RCS) failures. This allows achieving good robustness to possible failures occurring during flight and, at the same time, to optimize the use of a hybrid set of control effectors (i.e. aerodynamic surfaces and Reaction Control System) such to reduce thrusters fuel consumption. Fault Detection and Isolation (FDI) algorithms provide the required information about the health status of actuators/RCS thus enabling the reconfiguration of Flight Control Laws. The effectiveness of the proposed approach has been preliminarily demonstrated through a numerical analysis that accounts for both nominal and failures scenario, by using a 6Dof Model of Flying Test Bed FTB3, developed by Italian Aerospace Research Centre in the framework of Unmanned Space Vehicle (USV) Program.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128597527","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961498
A. Csikós, T. Tettamanti, I. Varga
This work suggests a NMPC controller for the urban perimeter control problem. The system model is based on the mathematical formalization of the problem, proposed in [1] expanded by describing the queue dynamics at the perimeter gates. For the extended model a multicriteria control problem is formalized: the conventional control objective of traffic network control, i.e. the improvement of TTD performance is accompanied by another control goal: the reduction of traffic emission. For the emission modeling, an average-speed based model framework is used, utilizing aggregated network parameters such as the total travel distance and the total time spent in the network. The NMPC controller is compared to a PID controller in a case study. The simulations show acceptable performance of the NMPC controller.
{"title":"Urban perimeter control for emission reduction and traffic performance improvement","authors":"A. Csikós, T. Tettamanti, I. Varga","doi":"10.1109/MED.2014.6961498","DOIUrl":"https://doi.org/10.1109/MED.2014.6961498","url":null,"abstract":"This work suggests a NMPC controller for the urban perimeter control problem. The system model is based on the mathematical formalization of the problem, proposed in [1] expanded by describing the queue dynamics at the perimeter gates. For the extended model a multicriteria control problem is formalized: the conventional control objective of traffic network control, i.e. the improvement of TTD performance is accompanied by another control goal: the reduction of traffic emission. For the emission modeling, an average-speed based model framework is used, utilizing aggregated network parameters such as the total travel distance and the total time spent in the network. The NMPC controller is compared to a PID controller in a case study. The simulations show acceptable performance of the NMPC controller.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128620935","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961566
D. Csercsik, G. Szederkényi
Using the results related to dynamically equivalent realizations of reaction kinetic systems, we analyze the dynamical properties of mass action reaction networks on which the well known structure based theorems of reaction kinetics are not directly applicable with respect to given range of certain rate coefficients. We introduce a transformation matrix to describe parametric changes, and show that if the appropriate transformation matrix has been found, parameter ranges for which certain dynamical properties can be ensured may be determined via the solution of a linear programming problem. The method is illustrated by numerical examples.
{"title":"Parametric analysis of dynamically equivalent reaction network models","authors":"D. Csercsik, G. Szederkényi","doi":"10.1109/MED.2014.6961566","DOIUrl":"https://doi.org/10.1109/MED.2014.6961566","url":null,"abstract":"Using the results related to dynamically equivalent realizations of reaction kinetic systems, we analyze the dynamical properties of mass action reaction networks on which the well known structure based theorems of reaction kinetics are not directly applicable with respect to given range of certain rate coefficients. We introduce a transformation matrix to describe parametric changes, and show that if the appropriate transformation matrix has been found, parameter ranges for which certain dynamical properties can be ensured may be determined via the solution of a linear programming problem. The method is illustrated by numerical examples.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129636335","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961582
Abdelrahem Atawnih, Z. Doulgeri, G. Rovithakis
In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.
{"title":"A physical Human Robot Interaction architecture for flexible joint robots","authors":"Abdelrahem Atawnih, Z. Doulgeri, G. Rovithakis","doi":"10.1109/MED.2014.6961582","DOIUrl":"https://doi.org/10.1109/MED.2014.6961582","url":null,"abstract":"In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130410214","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}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961424
F. D. Cillis, Francesca De Simio, L. Faramondi, Federica Inderst, F. Pascucci, R. Setola
In the age of automation the ability to navigate persons and devices in indoor environments has become increasingly important for a rising number of applications. While Global Positioning System can be considered a mature technology for outdoor localization, there is no off-the-shelf solution for indoor tracking. In this contribution, an infrastructure-less Indoor Positioning System based on walking feature detection is presented. The proposed system relies on the differences characterizing different human actions (e.g., walking, ascending or descending stairs, taking the elevator). The motion features are extracted in time domain by exploiting data provided by a 9DoF Inertial Measurement Unit. The positioning algorithm is based on walking distance and heading estimation. Step count and step length are used to determine the walking distance, while the heading is computed by quaternions. An experimental setup has been developed. The collected results show that system guarantee room level accuracy during long trials.
{"title":"Indoor positioning system using walking pattern classification","authors":"F. D. Cillis, Francesca De Simio, L. Faramondi, Federica Inderst, F. Pascucci, R. Setola","doi":"10.1109/MED.2014.6961424","DOIUrl":"https://doi.org/10.1109/MED.2014.6961424","url":null,"abstract":"In the age of automation the ability to navigate persons and devices in indoor environments has become increasingly important for a rising number of applications. While Global Positioning System can be considered a mature technology for outdoor localization, there is no off-the-shelf solution for indoor tracking. In this contribution, an infrastructure-less Indoor Positioning System based on walking feature detection is presented. The proposed system relies on the differences characterizing different human actions (e.g., walking, ascending or descending stairs, taking the elevator). The motion features are extracted in time domain by exploiting data provided by a 9DoF Inertial Measurement Unit. The positioning algorithm is based on walking distance and heading estimation. Step count and step length are used to determine the walking distance, while the heading is computed by quaternions. An experimental setup has been developed. The collected results show that system guarantee room level accuracy during long trials.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114874068","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}
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