Pub Date : 2022-01-01DOI: 10.5220/0011307300003271
A. Anderson, Javier G. Martin, N. Bouraqadi, L. Etienne, K. Langueh, L. Rajaoarisoa, G. Lozenguez, L. Fabresse, J. Maestre, E. Duviella
: Acquiring vast and reliable data of physicochemical parameters is critical to environment monitoring. In the context of water quality analysis, data collection solutions have to overcome challenges related to the scale of environments to be explored. Sites to monitor can be large or remote. These challenges can be approached by the use of Unmanned Vehicles (UVs). Robots provide both flexibility on intervention plans and technological methods for real-time data acquisition. Being autonomous, UVs can explore areas difficult to access or far from the shore. This paper presents a nonlinear Model Predictive Control (MPC) for UV-based exploration. The strategy aims to improve the data collection of physicochemical parameters with the use of an Unmanned Surface Vehicle (USV) targeting water quality analysis. We have performed simulations based on real field experiments with a SPYBOAT® on the Heron Lake in Villeneuve d’Ascq, France. Numerical results suggest that the proposed strategy outperforms the schedule of mission planning and exploration for large areas.
获取大量可靠的理化参数数据对环境监测至关重要。在水质分析的背景下，数据收集解决方案必须克服与待探索的环境规模相关的挑战。要监视的站点可以是大型的，也可以是远程的。这些挑战可以通过使用无人驾驶车辆(UVs)来解决。机器人提供了干预计划的灵活性和实时数据采集的技术方法。由于是自主的，uv可以探索难以进入或远离海岸的地区。提出了一种基于uv探测的非线性模型预测控制方法。该战略旨在通过使用针对水质分析的无人水面飞行器(USV)改进物理化学参数的数据收集。我们在法国Villeneuve d 'Ascq的Heron湖上进行了基于真实现场实验的SPYBOAT®模拟。数值计算结果表明，该策略在大范围内优于任务规划和勘探进度。
{"title":"Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions","authors":"A. Anderson, Javier G. Martin, N. Bouraqadi, L. Etienne, K. Langueh, L. Rajaoarisoa, G. Lozenguez, L. Fabresse, J. Maestre, E. Duviella","doi":"10.5220/0011307300003271","DOIUrl":"https://doi.org/10.5220/0011307300003271","url":null,"abstract":": Acquiring vast and reliable data of physicochemical parameters is critical to environment monitoring. In the context of water quality analysis, data collection solutions have to overcome challenges related to the scale of environments to be explored. Sites to monitor can be large or remote. These challenges can be approached by the use of Unmanned Vehicles (UVs). Robots provide both flexibility on intervention plans and technological methods for real-time data acquisition. Being autonomous, UVs can explore areas difficult to access or far from the shore. This paper presents a nonlinear Model Predictive Control (MPC) for UV-based exploration. The strategy aims to improve the data collection of physicochemical parameters with the use of an Unmanned Surface Vehicle (USV) targeting water quality analysis. We have performed simulations based on real field experiments with a SPYBOAT® on the Heron Lake in Villeneuve d’Ascq, France. Numerical results suggest that the proposed strategy outperforms the schedule of mission planning and exploration for large areas.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"54 1","pages":"230-237"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75979963","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 : 2022-01-01DOI: 10.5220/0011347500003271
Nikita Shopa, D. Konovalov, A. Kremlev, K. Zimenko
: Sufficient conditions of finite-time stability are presented for the class of nonlinear descriptor systems. Both, explicit and implicit Lyapunov function methods, are extended for finite-time stability analysis of descriptor systems and the corresponding settling time estimates are obtained. The theoretical results are supported by numerical examples.
{"title":"Finite-time Stability Analysis for Nonlinear Descriptor Systems","authors":"Nikita Shopa, D. Konovalov, A. Kremlev, K. Zimenko","doi":"10.5220/0011347500003271","DOIUrl":"https://doi.org/10.5220/0011347500003271","url":null,"abstract":": Sufficient conditions of finite-time stability are presented for the class of nonlinear descriptor systems. Both, explicit and implicit Lyapunov function methods, are extended for finite-time stability analysis of descriptor systems and the corresponding settling time estimates are obtained. The theoretical results are supported by numerical examples.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"113 1","pages":"711-716"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79399147","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 : 2022-01-01DOI: 10.5220/0011296200003271
K. Nielsen, Tom N. Pedersen
{"title":"A Planning Tool for COD Flow Optimisation to a Waste Water Treatment Plant","authors":"K. Nielsen, Tom N. Pedersen","doi":"10.5220/0011296200003271","DOIUrl":"https://doi.org/10.5220/0011296200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"10 1","pages":"222-229"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75306393","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 : 2022-01-01DOI: 10.5220/0011100500003271
M. S. Fadali
: This paper presents a controller design for networked control systems (NCS) with packet delay and event-triggered control. The total network delay is assumed to be an integer multiple of a fixed sampling period so that the overall system is time-varying with each model depending on the number of time delays. The design methodology is applicable to an arbitrary number of packet delays, regardless of whether the delays are random or deterministic. The methodology is applied to a simple example and Monte Carlo simulation results show that the controller stabilizes the NCS and is robust with respect to random variations in the sampling period and to changes in the probability of packet delays.
{"title":"LMI Stability Condition for NCS with Packet Delay and Event-triggered Control","authors":"M. S. Fadali","doi":"10.5220/0011100500003271","DOIUrl":"https://doi.org/10.5220/0011100500003271","url":null,"abstract":": This paper presents a controller design for networked control systems (NCS) with packet delay and event-triggered control. The total network delay is assumed to be an integer multiple of a fixed sampling period so that the overall system is time-varying with each model depending on the number of time delays. The design methodology is applicable to an arbitrary number of packet delays, regardless of whether the delays are random or deterministic. The methodology is applied to a simple example and Monte Carlo simulation results show that the controller stabilizes the NCS and is robust with respect to random variations in the sampling period and to changes in the probability of packet delays.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"93 1","pages":"99-104"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80012776","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 : 2022-01-01DOI: 10.5220/0011142900003271
Tonja Heinemann, Marwin Gihr, O. Riedel, A. Lechler
: This work analyzes the Open Platform Communications Unified Architecture (OPC UA) specifications for flat glass, plastics and rubber, machine vision, ISA-95 and machine tools regarding their job descriptions. Common contents of job models in the domain of machinery are deducted. Using a structured qualitative content analysis, more than 70 functional elements used in OPC UA job models have been identified. While some of these functional elements are modeled similarly in multiple domains, major differences are identified for other functional elements. Especially those differences constitute impediments in the standardization of industrial communication. The results of this work harmonize the contents and the modeling techniques regarding machining jobs in OPC UA and provide a generally applicable method for the standardization of machine communication throughout different domains. With this method for standardization, this work contributes directly to the goal of OPC UA, to easily exchange data between platforms from multiple vendors.
{"title":"Towards Data-driven Production: Analysis of Data Models Describing Machinery Jobs in OPC UA","authors":"Tonja Heinemann, Marwin Gihr, O. Riedel, A. Lechler","doi":"10.5220/0011142900003271","DOIUrl":"https://doi.org/10.5220/0011142900003271","url":null,"abstract":": This work analyzes the Open Platform Communications Unified Architecture (OPC UA) specifications for flat glass, plastics and rubber, machine vision, ISA-95 and machine tools regarding their job descriptions. Common contents of job models in the domain of machinery are deducted. Using a structured qualitative content analysis, more than 70 functional elements used in OPC UA job models have been identified. While some of these functional elements are modeled similarly in multiple domains, major differences are identified for other functional elements. Especially those differences constitute impediments in the standardization of industrial communication. The results of this work harmonize the contents and the modeling techniques regarding machining jobs in OPC UA and provide a generally applicable method for the standardization of machine communication throughout different domains. With this method for standardization, this work contributes directly to the goal of OPC UA, to easily exchange data between platforms from multiple vendors.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"1 1","pages":"729-736"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90429668","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 : 2022-01-01DOI: 10.5220/0011317100003271
Elhaouari Kobzili, Ahmed Allam, C. Larbes
: This paper presents a comparative study of scale recovering in monocular simultaneous localization and mapping (Mono-SLAM) by adopting and adapting four estimators into a multi-rate fusion mechanism and considering the scale as an element of the state vector. These estimators are: extended Kalman filter (EKF), smooth variable structure filter (SVSF), combined SVSF-EKF, and particularly adaptive smooth variable structure filter (ASVSF). The use of the ASVSF estimator represents the novelty of this paper because it provides a robust estimation of the trajectory scale as well as the covariance matrix at each iteration. This later represents the estimation incertitude. A second sensor is involved (inertial measurement unit (IMU)) as a reference to align the up to scale trajectory provided by the Mono-SLAM box. The designed system allows finding the scale factor with a rate not further than the IMU frequency and avoids complex synchronization. In order to outline the limitation of each estimator used for scale recovering, a deep analysis of the proposed approaches in terms of robustness, stability, accuracy, and real-time constraint was carried out.
{"title":"Comparative Study between EKF, SVSF, Combined SVSF-EKF, and ASVSF Approaches based Scale Estimation of Monocular SLAM","authors":"Elhaouari Kobzili, Ahmed Allam, C. Larbes","doi":"10.5220/0011317100003271","DOIUrl":"https://doi.org/10.5220/0011317100003271","url":null,"abstract":": This paper presents a comparative study of scale recovering in monocular simultaneous localization and mapping (Mono-SLAM) by adopting and adapting four estimators into a multi-rate fusion mechanism and considering the scale as an element of the state vector. These estimators are: extended Kalman filter (EKF), smooth variable structure filter (SVSF), combined SVSF-EKF, and particularly adaptive smooth variable structure filter (ASVSF). The use of the ASVSF estimator represents the novelty of this paper because it provides a robust estimation of the trajectory scale as well as the covariance matrix at each iteration. This later represents the estimation incertitude. A second sensor is involved (inertial measurement unit (IMU)) as a reference to align the up to scale trajectory provided by the Mono-SLAM box. The designed system allows finding the scale factor with a rate not further than the IMU frequency and avoids complex synchronization. In order to outline the limitation of each estimator used for scale recovering, a deep analysis of the proposed approaches in terms of robustness, stability, accuracy, and real-time constraint was carried out.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"18 1","pages":"668-679"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88614553","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 : 2022-01-01DOI: 10.5220/0011122300003271
S. Kahlouche, M. Belhocine
{"title":"Human Action Recognition using Convolutional Neural Network: Case of Service Robot Interaction","authors":"S. Kahlouche, M. Belhocine","doi":"10.5220/0011122300003271","DOIUrl":"https://doi.org/10.5220/0011122300003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"31 1","pages":"105-112"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83197706","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 : 2022-01-01DOI: 10.5220/0011355200003271
Ruslan Gabdrahmanov, T. Tsoy, Yang Bai, M. Svinin, E. Magid
{"title":"Gear Wheels based Simulation of Crawlers for Mobile Robot Servosila Engineer","authors":"Ruslan Gabdrahmanov, T. Tsoy, Yang Bai, M. Svinin, E. Magid","doi":"10.5220/0011355200003271","DOIUrl":"https://doi.org/10.5220/0011355200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"78 51 1","pages":"565-572"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90757493","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 : 2022-01-01DOI: 10.5220/0011314000003271
Kai Zhang, E. Lucet, Julien Alexandre Dit Sandretto, Selma Kchir, David Filliat
{"title":"Task and Motion Planning Methods: Applications and Limitations","authors":"Kai Zhang, E. Lucet, Julien Alexandre Dit Sandretto, Selma Kchir, David Filliat","doi":"10.5220/0011314000003271","DOIUrl":"https://doi.org/10.5220/0011314000003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"29 1","pages":"476-483"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86816818","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 : 2022-01-01DOI: 10.5220/0011336700003271
N. Kolesnik, A. Margun, A. Kremlev, Andrei Zhivitskii
: The paper is devoted to the development of an adaptive approach to the fault detection and isolation of input and sensor failures of armature-controlled direct current motors. The proposed detection method is based on the full state Luenberger observer. Isolation scheme uses the directional residual set and relationships between fault directions and residual vector. Adaptability is provided by dynamic regressor extension and mixing approach for online estimation of parameters. Proposed scheme allows to isolate following faults: unaccounted load acting on the rotor, input voltage disturbance, failures of velocity and current sensors. Simulation results confirm performance of the proposed approach.
{"title":"Adaptive Fault Detection and Isolation for DC Motor Input and Sensors","authors":"N. Kolesnik, A. Margun, A. Kremlev, Andrei Zhivitskii","doi":"10.5220/0011336700003271","DOIUrl":"https://doi.org/10.5220/0011336700003271","url":null,"abstract":": The paper is devoted to the development of an adaptive approach to the fault detection and isolation of input and sensor failures of armature-controlled direct current motors. The proposed detection method is based on the full state Luenberger observer. Isolation scheme uses the directional residual set and relationships between fault directions and residual vector. Adaptability is provided by dynamic regressor extension and mixing approach for online estimation of parameters. Proposed scheme allows to isolate following faults: unaccounted load acting on the rotor, input voltage disturbance, failures of velocity and current sensors. Simulation results confirm performance of the proposed approach.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"123 1","pages":"703-710"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86283668","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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