Pub Date : 2023-06-06DOI: 10.1109/MECO58584.2023.10154919
Faton Kabashi, Vehbi Neziri, Halil Snopçe, A. Luma, Azir Aliu, Lamir Shkurti
Blockchain technology has the potential to revolutionize the way Higher Education operates. Blockchain is a decentralized and secure database that can store and manage digital information without the need for a centralized authority. This technology can be applied in Higher Education to improve the security, transparency, and efficiency of academic and administrative processes such as student records, credentials verification, and payment processing. Additionally, blockchainbased platforms can provide new opportunities for collaboration and credentialing that could enhance the learning experience for students. While there are still some challenges to be overcome, such as regulatory issues and the need for interoperability, the potential benefits of blockchain in Higher Education are significant and worth exploring. The purpose of this paper is to investigate the possible applications of blockchain technology in Higher Education institutions and to provide a proposal/scheme of a blockchain-based academic and career record system in Higher Education. The system being proposed is composed of three layers, which are the data, blockchain, and application layers. It is distinguished by decentralized control, secure transactions, and privacy protection.
{"title":"The possibility of blockchain application in Higher Education","authors":"Faton Kabashi, Vehbi Neziri, Halil Snopçe, A. Luma, Azir Aliu, Lamir Shkurti","doi":"10.1109/MECO58584.2023.10154919","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10154919","url":null,"abstract":"Blockchain technology has the potential to revolutionize the way Higher Education operates. Blockchain is a decentralized and secure database that can store and manage digital information without the need for a centralized authority. This technology can be applied in Higher Education to improve the security, transparency, and efficiency of academic and administrative processes such as student records, credentials verification, and payment processing. Additionally, blockchainbased platforms can provide new opportunities for collaboration and credentialing that could enhance the learning experience for students. While there are still some challenges to be overcome, such as regulatory issues and the need for interoperability, the potential benefits of blockchain in Higher Education are significant and worth exploring. The purpose of this paper is to investigate the possible applications of blockchain technology in Higher Education institutions and to provide a proposal/scheme of a blockchain-based academic and career record system in Higher Education. The system being proposed is composed of three layers, which are the data, blockchain, and application layers. It is distinguished by decentralized control, secure transactions, and privacy protection.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123209140","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10155105
Eugene O. Belyakin, Maria A. Markelova, M. Bogachev
Internet traffic intensity variations contain significant information on the access pattern dynamics. On the one hand, variability in access patterns is a direct manifestation of the end users' and IoT devices behavior. On the other hand, a better understanding of the access pattern dynamics provides essential information for an early redistribution of traffic, leading to potentially more efficient dynamic routing algorithms. Traffic in large networks is typically governed by a complex interplay of auto-and cross-correlation patterns that largely determine its non-stationary nature. Here we have considered two approaches to the identification of the traffic variation model. The first approach is parametric and focuses on fitting the parameters of Seasonal Auto Regressive Integrated Moving Average with exogenous factors (SARIMAX). The second approach is based on training of a recurrent neural network (RNN). Both approaches have been validated explicitly using traffic data records over several days of monitoring at the uplink of a local campus network.
{"title":"Forecasting of traffic variations from their preceding dynamics: Parametric vs non-parametric approaches","authors":"Eugene O. Belyakin, Maria A. Markelova, M. Bogachev","doi":"10.1109/MECO58584.2023.10155105","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10155105","url":null,"abstract":"Internet traffic intensity variations contain significant information on the access pattern dynamics. On the one hand, variability in access patterns is a direct manifestation of the end users' and IoT devices behavior. On the other hand, a better understanding of the access pattern dynamics provides essential information for an early redistribution of traffic, leading to potentially more efficient dynamic routing algorithms. Traffic in large networks is typically governed by a complex interplay of auto-and cross-correlation patterns that largely determine its non-stationary nature. Here we have considered two approaches to the identification of the traffic variation model. The first approach is parametric and focuses on fitting the parameters of Seasonal Auto Regressive Integrated Moving Average with exogenous factors (SARIMAX). The second approach is based on training of a recurrent neural network (RNN). Both approaches have been validated explicitly using traffic data records over several days of monitoring at the uplink of a local campus network.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129362817","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10155004
V. Ceperkovic, M. Prokin, D. Prokin
Automotive angle sensors with magnetoresistive (MR) technology are used for: steering angle, motor commutation, rotor and pedal positions, automotive wipers, brakes and air routing in ventilation systems. Self-calibration of MR sensors is performed by linear and harmonic compensation based on the angular speed of shafts measured by single buffered method.
{"title":"Single Buffered Angular Speed Measurement Method for Self-Calibration of Magnetoresistive Sensors","authors":"V. Ceperkovic, M. Prokin, D. Prokin","doi":"10.1109/MECO58584.2023.10155004","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10155004","url":null,"abstract":"Automotive angle sensors with magnetoresistive (MR) technology are used for: steering angle, motor commutation, rotor and pedal positions, automotive wipers, brakes and air routing in ventilation systems. Self-calibration of MR sensors is performed by linear and harmonic compensation based on the angular speed of shafts measured by single buffered method.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128755361","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10154994
R. Ristov, S. Koceski
With Internet of Things (IoT) becoming increasingly popular and widespread, the somewhat secure devices could potentially become completely insecure with the emergence of quantum computers. The problem is that a lot of IoT devices in crucial places are not secured and use unencrypted communication or use the current recommended encryption algorithms. This paper explores public key encryption (PKE) with post quantum cryptography (PQC) algorithm Kyber, despite it being usually used as key-encapsulation mechanism (KEM). The proposed approach has been evaluated experimentally. The conducted experiment encrypts the data on one scenario on the IoT device itself and in the other scenario the data is encrypted on a fog node. Obtained results are promising and suggest that quantum resilient public key cryptography is applicable in internet of things.
{"title":"Quantum Resilient Public Key Cryptography in Internet of Things","authors":"R. Ristov, S. Koceski","doi":"10.1109/MECO58584.2023.10154994","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10154994","url":null,"abstract":"With Internet of Things (IoT) becoming increasingly popular and widespread, the somewhat secure devices could potentially become completely insecure with the emergence of quantum computers. The problem is that a lot of IoT devices in crucial places are not secured and use unencrypted communication or use the current recommended encryption algorithms. This paper explores public key encryption (PKE) with post quantum cryptography (PQC) algorithm Kyber, despite it being usually used as key-encapsulation mechanism (KEM). The proposed approach has been evaluated experimentally. The conducted experiment encrypts the data on one scenario on the IoT device itself and in the other scenario the data is encrypted on a fog node. Obtained results are promising and suggest that quantum resilient public key cryptography is applicable in internet of things.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114292252","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10155050
Radmila Koleva, E. Zaev, D. Babunski, G. Rath, D. Ninevski
A prototype of a cheap IoT system for real-time monitoring of river water quality has been developed. The system consists of monitoring stations and appropriate presentation devices (computer, phone, or similar). Each monitoring station has a possibility for real-time measurement of 4 parameters: temperature, pH, turbidity, and dissolved oxygen. They are measured through probes submerged directly in the water. The probes are connected to the Raspberry Pi 3 model B, and through wi-fi communication, the measured data are transferred to the data storage cloud and then transferred to the visualization platform. The collected data in the IoT system is calculated and presented in real-time. Using real-time we can have instant information on the water quality and an alarm for possible contamination. Collected data on the remote server station can be used for deeper water quality analysis.
{"title":"IoT System for Real-Time Water Quality Measurement and Data Visualization","authors":"Radmila Koleva, E. Zaev, D. Babunski, G. Rath, D. Ninevski","doi":"10.1109/MECO58584.2023.10155050","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10155050","url":null,"abstract":"A prototype of a cheap IoT system for real-time monitoring of river water quality has been developed. The system consists of monitoring stations and appropriate presentation devices (computer, phone, or similar). Each monitoring station has a possibility for real-time measurement of 4 parameters: temperature, pH, turbidity, and dissolved oxygen. They are measured through probes submerged directly in the water. The probes are connected to the Raspberry Pi 3 model B, and through wi-fi communication, the measured data are transferred to the data storage cloud and then transferred to the visualization platform. The collected data in the IoT system is calculated and presented in real-time. Using real-time we can have instant information on the water quality and an alarm for possible contamination. Collected data on the remote server station can be used for deeper water quality analysis.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126255470","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10154954
Omid Jafari, Stanislav Kolosov, Nhan Vo, Asmita Thapa Magar, J. Heikkonen, R. Kanth
This research aims to develop a smart traffic light system that can improve traffic flow in urban areas. The proposed system uses sensors, cameras, and software to adjust the timing of traffic signals based on real-time traffic conditions. In this study, a Raspberry Pi 4 and MATLAB software was used to build the smart traffic controller. The detection part of the system involves several steps, including removing noise and retrieving information to calculate the number of cars detected. The system then switches traffic lights based on the detected car count. The MATLAB Image Acquisition and Computer Vision toolboxes were used to obtain and analyze the video frames received from the connected cameras. The detector uses the Gaussian Mixture Model to suppress frequently occurring features and to detect abnormal features, which are then used to detect changes caused by moving objects. Morphological operations are used to remove noise from the output. Finally, the system counts the cars detected by the Foreground Detector and switches the traffic lights accordingly. The proposed approach can help reduce traffic congestion and improve the overall flow of traffic in urban areas.
{"title":"Intelligent Traffic Light Solution for Green and Sustainable Smart City","authors":"Omid Jafari, Stanislav Kolosov, Nhan Vo, Asmita Thapa Magar, J. Heikkonen, R. Kanth","doi":"10.1109/MECO58584.2023.10154954","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10154954","url":null,"abstract":"This research aims to develop a smart traffic light system that can improve traffic flow in urban areas. The proposed system uses sensors, cameras, and software to adjust the timing of traffic signals based on real-time traffic conditions. In this study, a Raspberry Pi 4 and MATLAB software was used to build the smart traffic controller. The detection part of the system involves several steps, including removing noise and retrieving information to calculate the number of cars detected. The system then switches traffic lights based on the detected car count. The MATLAB Image Acquisition and Computer Vision toolboxes were used to obtain and analyze the video frames received from the connected cameras. The detector uses the Gaussian Mixture Model to suppress frequently occurring features and to detect abnormal features, which are then used to detect changes caused by moving objects. Morphological operations are used to remove noise from the output. Finally, the system counts the cars detected by the Foreground Detector and switches the traffic lights accordingly. The proposed approach can help reduce traffic congestion and improve the overall flow of traffic in urban areas.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129989690","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10155103
A. M. Gruzlikov
The paper considers the problem of minimizing the sum of completion times in a permutation flow-shop system. It is known that the problem under consideration cannot be approximated in polynomial within arbitrarily good precision (the problem belongs to the APX-hard class). The problem is common in some manufacturing environments and for information processing systems. The proposed approach is based on the concept of solvable class of systems, for which an optimal scheduling algorithm of polynomial complexity exists. The paper presents the results of a computational experiment using Taylard's tests for pipeline-type systems and for systems defined by an acyclic graph.
{"title":"Minimizing the Total Completion Time of Jobs for a Permutation Flow-Shop System","authors":"A. M. Gruzlikov","doi":"10.1109/MECO58584.2023.10155103","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10155103","url":null,"abstract":"The paper considers the problem of minimizing the sum of completion times in a permutation flow-shop system. It is known that the problem under consideration cannot be approximated in polynomial within arbitrarily good precision (the problem belongs to the APX-hard class). The problem is common in some manufacturing environments and for information processing systems. The proposed approach is based on the concept of solvable class of systems, for which an optimal scheduling algorithm of polynomial complexity exists. The paper presents the results of a computational experiment using Taylard's tests for pipeline-type systems and for systems defined by an acyclic graph.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"57 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114002751","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10155099
Haris Muhović, Almedin Salkić, Emina Melic, Neira Džananović, M. Saric, D. Jokić, S. Lale
This paper presents the implementation of the Binary Search Algorithm (BSA) to determine the Maximum Power Point (MPP) of a photovoltaic (PV) system under variable weather conditions. Additionally, the conventional well-known Perturb and Observe (P&O) algorithm is also implemented to be compared with the binary search based Maximum Power Point Tracking (MPPT) algorithm. Both algorithms are implemented in real time in MATLAB/Simulink environment. The experimental study is performed using the two 260 W series connected PV modules, the buck converter, and Humusoft MF 634 card to enable real-time operation. The value of the duty cycle for the buck converter is being updated in each step moving the operation point closer to MPP. The obtained experimental results demonstrate that the binary search based MPPT algorithm is more efficient and accurate when compared to the P&O MPPT algorithm.
本文提出了在可变天气条件下确定光伏发电系统最大功率点(MPP)的二叉搜索算法(BSA)。此外，还实现了传统的Perturb and Observe (P&O)算法，并与基于二叉搜索的最大功率点跟踪(MPPT)算法进行了比较。两种算法均在MATLAB/Simulink环境下实时实现。实验研究采用两个260 W串联的光伏模块、降压变换器和Humusoft MF 634卡进行实时操作。降压转换器的占空比的值在每一步中都在更新，使工作点更接近MPP。实验结果表明，与P&O MPPT算法相比，基于二叉搜索的MPPT算法具有更高的效率和准确性。
{"title":"Binary Search based Maximum Power Point Tracking Algorithm for Photovoltaic System","authors":"Haris Muhović, Almedin Salkić, Emina Melic, Neira Džananović, M. Saric, D. Jokić, S. Lale","doi":"10.1109/MECO58584.2023.10155099","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10155099","url":null,"abstract":"This paper presents the implementation of the Binary Search Algorithm (BSA) to determine the Maximum Power Point (MPP) of a photovoltaic (PV) system under variable weather conditions. Additionally, the conventional well-known Perturb and Observe (P&O) algorithm is also implemented to be compared with the binary search based Maximum Power Point Tracking (MPPT) algorithm. Both algorithms are implemented in real time in MATLAB/Simulink environment. The experimental study is performed using the two 260 W series connected PV modules, the buck converter, and Humusoft MF 634 card to enable real-time operation. The value of the duty cycle for the buck converter is being updated in each step moving the operation point closer to MPP. The obtained experimental results demonstrate that the binary search based MPPT algorithm is more efficient and accurate when compared to the P&O MPPT algorithm.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123968916","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 : 2023-06-06DOI: 10.1109/meco58584.2023.10154946
A. Alop
It is known that the cause of most accidents and incidents at sea is, to one degree or another, either directly or indirectly, the so-called human factor. During the last years, more and more people have started to look towards solutions that can significantly reduce or even eliminate the negative consequences of human characteristics; one such solution is believed to be the partial or complete replacement of humans on board with “smart” technologies, such as artificial intelligence (AI). Here, however, two questions arise: the first - will the complete exclusion of people from the game can bring the desired result and is it even possible? And the second - can “smart” machines make their own, specific, so-called machine errors, and should these machine errors be preferred to human errors, or can their consequences be as severe as those caused by humans? The author of the paper tries to discuss the raised questions, looking for answers, even in a preliminary and imperfect form.
{"title":"Fully Autonomous Ship - Will AI Make “Machine Errors” or Will They Human Errors in a New Form?","authors":"A. Alop","doi":"10.1109/meco58584.2023.10154946","DOIUrl":"https://doi.org/10.1109/meco58584.2023.10154946","url":null,"abstract":"It is known that the cause of most accidents and incidents at sea is, to one degree or another, either directly or indirectly, the so-called human factor. During the last years, more and more people have started to look towards solutions that can significantly reduce or even eliminate the negative consequences of human characteristics; one such solution is believed to be the partial or complete replacement of humans on board with “smart” technologies, such as artificial intelligence (AI). Here, however, two questions arise: the first - will the complete exclusion of people from the game can bring the desired result and is it even possible? And the second - can “smart” machines make their own, specific, so-called machine errors, and should these machine errors be preferred to human errors, or can their consequences be as severe as those caused by humans? The author of the paper tries to discuss the raised questions, looking for answers, even in a preliminary and imperfect form.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124216988","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 : 2023-06-06DOI: 10.1109/MECO58584.2023.10154995
M. Harker, G. Rath, John W. Handler
This paper presents a new numerical method for treating the problem of optimal control when there are hard bounds on the control variables (e.g., limit switches on a linear drive, current limits to motor input, etc.) and/or on the state/output variables (e.g., obstacle avoidance). This is accomplished by means of a new approach for discretizing the optimal control problem, while introducing regularization terms to reduce the solution space to smooth functions. Further, by introducing a consistent discretization of the state-space equations with arbitrary boundary conditions, the problem is cast as a problem of quadratic programming, whereby (hard) bounds can be put on any of the state-space variables (i.e., input or output). The method is demonstrated on the example of a pendulum on a cart. Bounded optimal control solutions are computed for two examples: Velocity bounds are placed on the cart in the classic optimal control problem; a variation of trajectory tracking where instead of specifying a single valued path, the bounds of the trajectory of the pendulum bob are specified, and the required input to keep the bob within these bounds during its motion is computed.
{"title":"Optimal Control of State-Space Systems with Hard Bounds on Control Inputs and State Variables","authors":"M. Harker, G. Rath, John W. Handler","doi":"10.1109/MECO58584.2023.10154995","DOIUrl":"https://doi.org/10.1109/MECO58584.2023.10154995","url":null,"abstract":"This paper presents a new numerical method for treating the problem of optimal control when there are hard bounds on the control variables (e.g., limit switches on a linear drive, current limits to motor input, etc.) and/or on the state/output variables (e.g., obstacle avoidance). This is accomplished by means of a new approach for discretizing the optimal control problem, while introducing regularization terms to reduce the solution space to smooth functions. Further, by introducing a consistent discretization of the state-space equations with arbitrary boundary conditions, the problem is cast as a problem of quadratic programming, whereby (hard) bounds can be put on any of the state-space variables (i.e., input or output). The method is demonstrated on the example of a pendulum on a cart. Bounded optimal control solutions are computed for two examples: Velocity bounds are placed on the cart in the classic optimal control problem; a variation of trajectory tracking where instead of specifying a single valued path, the bounds of the trajectory of the pendulum bob are specified, and the required input to keep the bob within these bounds during its motion is computed.","PeriodicalId":187825,"journal":{"name":"2023 12th Mediterranean Conference on Embedded Computing (MECO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116836074","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：