Search results for "Control and Systems Engineering"
showing 10 items of 994 documents
Qualitative analysis of goat and sheep production data using self-organizing maps
2009
The aim of this study was to analyse the relationship between different small ruminant livestock production systems with different levels of specialization. The analysis is carried out by using the self-organizing map. This tool allows high-dimensional input spaces to be mapped into much lower-dimensional spaces, thus making it much more straightforward to understand any set of data. These representations enable the visual extraction of qualitative relationships among variables (visual data mining), converting the data to maps. The data used in this study were obtained from surveys completed by farmers who are principally dedicated to goat and sheep production. With the self-organizing map …
Relative Vessel Motion Tracking using Sensor Fusion, Aruco Markers, and MRU Sensors
2017
This paper presents a novel approach for estimating the relative motion between two moving offshore vessels. The method is based on a sensor fusion algorithm including a vision system and two motion reference units (MRUs). The vision system makes use of the open-source computer vision library OpenCV and a cube with Aruco markers placed onto each of the cube sides. The Extended Quaternion Kalman Filter (EQKF) is used for bad pose rejection for the vision system. The presented sensor fusion algorithm is based on the Indirect Feedforward Kalman Filter for error estimation. The system is self-calibrating in the sense that the Aruco cube can be placed in an arbitrary location on the secondary ve…
Fiber-Optic Aqueous Dipping Sensor Based on Coaxial-Michelson Modal Interferometers
2009
Fiber-optic modal interferometers with a coaxial-Michelson configuration can be used to monitor aqueous solutions by simple dipping of few centimeters of a fiber tip. The fabrication of these sensors to work around 850 nm enables the use of compact, robust, and low-cost optical spectrum analyzers. The use of this type of portable sensor system to monitor sewage treatment plants is shown.
Space of signatures as inverse limits of Carnot groups
2021
We formalize the notion of limit of an inverse system of metric spaces with 1-Lipschitz projections having unbounded fibers. The construction is applied to the sequence of free Carnot groups of fixed rank n and increasing step. In this case, the limit space is in correspondence with the space of signatures of rectifiable paths in ℝn, as introduced by Chen. Hambly-Lyons’s result on the uniqueness of signature implies that this space is a geodesic metric tree. As a particular consequence we deduce that every path in ℝn can be approximated by projections of some geodesics in some Carnot group of rank n, giving an evidence that the complexity of sub-Riemannian geodesics increases with the step.
Occlusion-based estimation of independent multinomial random variables using occurrence and sequential information
2017
Abstract This paper deals with the relatively new field of sequence-based estimation in which the goal is to estimate the parameters of a distribution by utilizing both the information in the observations and in their sequence of appearance. Traditionally, the Maximum Likelihood (ML) and Bayesian estimation paradigms work within the model that the data, from which the parameters are to be estimated, is known, and that it is treated as a set rather than as a sequence. The position that we take is that these methods ignore, and thus discard, valuable sequence -based information, and our intention is to obtain ML estimates by “extracting” the information contained in the observations when perc…
Guest Editorial Special Section on Recent Trends and Developments in Industry 4.0 Motivated Robotic Solutions
2018
The twelve papers in this special section focus on the development of robotic solutions for smart factories in industry - the concept of the fourth industrial revolution (industry 4.0). The inclusion of robotics is expected to deeply change the future manufacturing and production processes, and lead to smart factories that will benefit from the main design principles of Industry 4.0: interoperability, virtualization, decentralization, real-time capability, service orientation, and modularity. Robotics will have a key role in this development since innovative technologies and solutions, traditionally associated with the service robotics sector, are going to migrate to industrial smarter robo…
Quantum planning for swarm robotics
2023
Computational resources of quantum computing can enhance robotic motion, decision making, and path planning. While the quantum paradigm is being applied to individual robots, its approach to swarms of simple and interacting robots remains largely unexplored. In this paper, we attempt to bridge the gap between swarm robotics and quantum computing, in the framework of a search and rescue mission. We focus on a decision-making and path-planning collective task. Thus, we present a quantum-based path-planning algorithm for a swarm of robots. Quantization enters position and reward information (measured as a robot’s proximity to the target) and path-planning decisions. Pairwise information-exchan…
Control of a non-isothermal continuous stirred tank reactor by a feedback–feedforward structure using type-2 fuzzy logic controllers
2011
A control system that uses type-2 fuzzy logic controllers (FLC) is proposed for the control of a non-isothermal continuous stirred tank reactor (CSTR), where a first order irreversible reaction occurs and that is characterized by the presence of bifurcations. Bifurcations due to parameter variations can bring the reactor to instability or create new working conditions which although stable are unacceptable. An extensive analysis of the uncontrolled CSTR dynamics was carried out and used for the choice of the control configuration and the development of controllers. In addition to a feedback controller, the introduction of a feedforward control loop was required to maintain effective control…
A Technical Approach to the Energy Blockchain in Microgrids
2018
The present paper considers some technical issues related to the “energy blockchain” paradigm applied to microgrids. In particular, what appears from the study is that the superposition of energy transactions in a microgrid creates a variation of the power losses in all the branches of the microgrid. Traditional power losses allocation in distribution systems takes into account only generators while, in this paper, a real-time attribution of power losses to each transaction involving one generator and one load node is done by defining some suitable indices. Besides, the presence of P–V nodes increases the level of reactive flows and provides a more complex technical perspective. For this re…
Adaptive Feedback Linearization Control of SynRM Drives With On-Line Inductance Estimation
2023
This article proposes an adaptive input-output Feedback Linearization Control ( FLC ) techniques for Synchronous Reluctance Motor ( SynRM ) drives, taking into consideration the iron losses. As a main original content, this work proposes a control law based on a new dynamic model of the SynRM including iron losses as well as the on-line estimation of the static inductances. The on-line estimation of the SynRM static inductances permits to inherently take into consideration the magnetic saturation phenomena occuring on both axes. As a major result, it permits a null stator current steady state tracking error even with a proportional derivative controller. The estimation law is obtained thank…