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The performance of a controlled distributed parameter system is known to be dependent on the location of the control actuator, in addition to the controller itself. Thus actuator placement should be part of controller design for these systems. In this paper, several different criteria are compared in the context of controlling diffusion on a two-dimensional region. If the objective is to reduce the...
In this paper, we propose a novel state estimation algorithm that is resilient to sparse data injection attacks and robust to additive and multiplicative modeling errors. By leveraging principles of robust optimization, we construct uncertainty sets that lead to tractable optimization solutions. As a corollary, we obtain a novel robust filtering algorithm when there are no attacks, which can be viewed...
We consider the problem of identifying 1D spatially-varying systems that exhibit no temporal dynamics. The spatial dynamics are modeled via a mixed-causal, anti-causal state space model. The methodology is developed for identifying the input-output map of e.g a 1D flexible beam described by the Euler-Bernoulli beam equation and equipped with a large number of actuators and sensors. It is shown that...
This paper focuses on the problem of fault-tolerant control of spatially distributed systems modeled by parabolic PDEs with networked sensors and actuators and actuator faults. Based on a suitable finite-dimensional model that captures the dominant dynamics of the infinite-dimensional system, an event-triggered networked control system that enforces closed-loop stability with minimal sensor-controller...
An automotive network needs to accumulate as much data as possible during motion to function in real-time, so that the system can respond to external influences accordingly. All kinds of situations regarding the state of the vehicle and its surroundings must be taken into account. To realize such a scenario many sensors, cameras and further input/output devices are essential to gather the required...
The development of software and machines capable of making ethical judgements is a topic of great interest with both the research communities and the public. Debates over the possibility and practicality of such systems have only intensified with the increased use of robotics in the military arena and the ubiquity of AI in commercial products. Modern innovations, such as the driverless car, will likely...
The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition,...
This article presents an accurate study about the validity of the tuning rule for symmetric-send-on-delta (SSOD) based PID controllers which was presented by the authors in a previous work. First we obtain the conditions under which the rule is valid and then we study its fulfillment for an extensive batch of 134 models. The results demonstrated that most of the models used in practical applications...
The overabundance of attacks reported on in-vehicle networks triggered reactions from both the academic research communities and industry professionals. However, designing security for in-vehicle networks is a challenging task and it is yet unclear to what extent current proposals are suitable for real world vehicles. In this work, we advocate the use of a top-down approach in which we analyze the...
We propose a THz spatial filter using frequency selective surfaces (FSS) integrated with bimaterial actuator for switching. The actuator consists of two materials that have different thermal expansion rates and can be designed based on temperature tuning. The goal for this design is to develop high performance reconfigurable filters operating in the THz band. The filter was fabricated using gold as...
This paper presents the design and implementation of the novel in-plane micro gyroscope with vibrating ring spring, which is made using SOI technology and achieves high Q in the drive and sense resonant modes (Qdrive=116,500 and Qsense =86,600) due to its low loss spring structure.
For the use in rehabilitation robotic devices, various types of actuators are currently being investigated. Variable impedance actuators seem promising concerning individualized training, comfort and safety. For the control of actuators, some sensors are required, however, to keep the rehabilitation device light, also the implementation of measuring instruments should be reduced. Thus, in this contribution,...
High performance control of Switched Reluctance Machines (SRM) dictates the need for an accurate electromagnetic characterization which can be obtained either by analytical, finite elements (FE) or experimental methods. Physically SRM's present a double salient structure and are intended to operate in deep magnetic saturation in function of phase current and rotor position. As a result SRM's characteristics...
This paper presents the design of a modular lower limb exoskeleton intended for gait control research. The design requirements for this project will be presented as well as the solutions proposed to fulfill the purpose of the exoskeleton. More precisely, the exoskeleton will be used to measure the pseudo-impedance of the knee and ankle at specific instants during gait, such as heel strike and toe-off...
Multi-rotor air vehicles are controlled by varying the rotor speeds. The variation of the rotor speeds enable the altitude change, yaw motion as well as pitch and roll motions of the vehicle. Pitch and roll motion leads to translation motions along x and y axes. When the air vehicle is used for surveillance type missions, the tilting of the vehicle is not desired, since the camera will also be tilted...
In recent years industrial control systems using networks for communication and Transmission Control Protocol (TCP) are normally used in supervisory layer, so malicious outsider and insider can attack through network. One of useful based model methods for fault detection and isolation is Unknown Input Observers (UIO). Some previous works that used UIO, observe dynamic of the physical system to detect...
The paper proposes both a behavioral model of the electromagnetic actuator and experimental results. An electromagnetic actuator structure is a system composed from coils and permanent magnets is presented. The electromagnetic actuators are used as: themselves for producing mechanical displacement and/or force generation, driving element for hydraulic distributors and other applications. It is proposed...
In the paper is proposed a modified technique for actuator faults estimation in linear dynamic systems, which gives the possibility simultaneously estimate the system state as well as actuator faults. Using the discrete-time observer combined with fault estimation, the considered faults are assumed to be additive only, thereby the principle can be applied for a broader class of time-varying fault...
This paper studies the mathematical model of the object "inverted pendulum" on the example of the unstable electromechanical device — balancing robot on the wheel pair. The paper gives the results of analysis of the impact of many real control object properties on the system performance. Among them the most important ones are the actuator, filters, friction and the tendency to fluctuations.
In this paper, we present a wearable microsystem for minimally invasive, autonomous and pseudo-continuous blood glucose monitoring that addresses growing demand for replacing tedious fingerpricking tests for diabetic patients. Unlike the prevalent solutions that estimate blood glucose levels from interstitial fluids or tears, our approach uses a novel wearable microsystem design to extract a whole...
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