Academic literature on the topic 'Off line Model Predictive Control'
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Journal articles on the topic "Off line Model Predictive Control"
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Hayasaki, Yuji, Shingo Nakashima, Yuji Wakasa, Yoshiki Mizukami, and Kanya Tanaka. "Application of off-line model predictive control to pneumatic systems." IFAC Proceedings Volumes 37, no. 12 (August 2004): 813–18. http://dx.doi.org/10.1016/s1474-6670(17)31570-7.
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Kim, Sung Hyun. "Model Predictive Control Algorithm Based on Off-Line Region Dependency." Mathematical Problems in Engineering 2016 (2016): 1–9. http://dx.doi.org/10.1155/2016/6308598.
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This paper presents an efficient MPC algorithm for uncertain time-varying systems with input constraints. The main advantage of this algorithm with respect to other published algorithms is to significantly enlarge the size of the stabilization set without regard to computational burdens. Specially, we introduce an off-line region-dependent MPC scheme to avoid the size limitation of the control horizon caused by huge on-line computational burdens. A numerical example is included to illustrate the validity of the result.
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Stoica, C., P. Rodríguez-Ayerbe, and D. Dumur. "Off-line Robustification of Model Predictive Control for Uncertain Multivariable Systems." IFAC Proceedings Volumes 41, no. 2 (2008): 7832–37. http://dx.doi.org/10.3182/20080706-5-kr-1001.01324.
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Ping, Xubin, and Baocang Ding. "Off-line approach to dynamic output feedback robust model predictive control." Systems & Control Letters 62, no. 11 (November 2013): 1038–48. http://dx.doi.org/10.1016/j.sysconle.2013.07.011.
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Pan, Xia, Xiaowei Chen, Qingyu Zhang, and Nannan Li. "Model Predictive Control : A Reinforcement Learning-based Approach." Journal of Physics: Conference Series 2203, no. 1 (February 1, 2022): 012058. http://dx.doi.org/10.1088/1742-6596/2203/1/012058.
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Abstract This article proposes a method of model predictive control, which combine the excellent data-driven optimization ability of reinforcement learning and model predictive control to design the controller. Different from the off-line design of MPC, reinforcement learning is based on the adaptation of on-line data to achieve the purpose of control strategy optimization. The reinforcement learning-based model predictive control can improve the control performance effectively. And the numerical simulations are given to demonstrate the effectiveness of the proposed approach.
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Wang, Jing, and Qilun Wang. "Intelligent explicit model predictive control based on machine learning for microbial desalination cells." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 7 (December 11, 2018): 751–63. http://dx.doi.org/10.1177/0959651818816845.
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Aiming at the online control problem of microbial fuel cells, this article presents a class of explicit model-predictive control methods based on the machine learning data model. The proposed method is divided into two stages: off-line design and on-line control. In the off-line design stage, (1) a feasible data set is collected by sampling the admissible state in the feasible region and solving the optimal model predictive control law for each sampling data point off-line, (2) a feasible sample discriminator is constructed based on the support vector machine–based binary classification in order to judge the whether the real sampling state is feasible, and (3) according to the feasible samples and the corresponding optimal control law, the control surface of explicit model predictive controller is constructed based on the machine learning methods. In the on-line control stage, the process data are collected in real time and the feasible control output is calculated by using the trained explicit predictive control surface. Extensive testing and comparison among the different machine learning algorithms, such as artificial neural network, extreme learning machine, Gaussian process regression, and relevance vector machine, are performed on the benchmark model of a class of microbial desalination fuel cells. These results demonstrate that the proposed explicit model predictive control method can avoid the exhausting optimization computing and is easy to realize on-line with good control performance.
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PING, Xu-Bin, and Bao-Cang DING. "An Off-line Approach to Dynamic Output Feedback Robust Model Predictive Control." Acta Automatica Sinica 39, no. 6 (March 25, 2014): 790–98. http://dx.doi.org/10.3724/sp.j.1004.2013.00790.
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Asemani, M. H., V. J. Majd, and M. H. Zibaee Nejad. "An improved off-line approach for output feedback robust model predictive control." IFAC Proceedings Volumes 41, no. 2 (2008): 10886–91. http://dx.doi.org/10.3182/20080706-5-kr-1001.01844.
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Cychowski, Marcin T., and Thomas O'Mahony. "EFFICIENT OFF-LINE SOLUTIONS TO ROBUST MODEL PREDICTIVE CONTROL USING ORTHOGONAL PARTITIONING." IFAC Proceedings Volumes 38, no. 1 (2005): 129–34. http://dx.doi.org/10.3182/20050703-6-cz-1902.00882.
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Wan, Zhaoyang, and Mayuresh V. Kothare. "Robust output feedback model predictive control using off-line linear matrix inequalities." Journal of Process Control 12, no. 7 (October 2002): 763–74. http://dx.doi.org/10.1016/s0959-1524(02)00003-3.
Full textDissertations / Theses on the topic "Off line Model Predictive Control"
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Filippo, Marco. "Stabilizing nonlinear model predictive control in presence of disturbances and off - line approximations of the control law." Doctoral thesis, Università degli studi di Trieste, 2011. http://hdl.handle.net/10077/4519.
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2009/2010One of the more recent and promising approaches to control is the Receding Horizon one. Due to its intrinsic characteristics, this methodology, also know as Model Predictive Control, allows to easily face disturbances and model uncertainties: indeed at each sampling instant the control action is recalculated on the basis of the reached state (closed loop). More in detail, the procedure consists in the minimization of an adequate cost function with respect to a control input sequence; then the first element of the optimal sequence is applied. The whole procedure is then continuously reiterated. In this thesis, we will focus in particular on robust control of constrained systems. This is motivated by the fact that, in practice, every real system is subjected to uncertainties, disturbances and constraints, in particular on state and input (for instance, plants can work without being damaged only in a limited set of configurations and, on the other side, control actions must be compatible with actuators' physical limits). With regard to the first aspect, maintaining the closed loop stability even in presence of disturbances or model mismatches can result in an essential strategy: moreover it can be exploited in order to design an approximate stabilizing controller, as it will be shown. The control input values are obtained recurring to a Nearest Neighbour technique or, in more favourable cases, to a Neural Network based approach to the exact RH law, which can be then calculated off line: this implies a strong improvement related to the applicability of MPC policy in particular in terms of on line computational burden. The proposed scheme is capable to guarantee stability even for systems that are not stabilizable by means of a continuous feedback control law. Another interesting framework in which the study of the influence of uncertainties on stability can lead to significant contributions is the networked MPC one. In this case, due to the absence of physical interconnections between the controller and the systems to be controlled, stability can be obtained only taking into account of the presence of disturbances, delays and data losses: indeed this kind of uncertainties are anything but infrequent in a communication network. The analysis carried out in this thesis regards interconnected systems and leads to two distinct procedures, respectively stabilizing the linear systems with TCP protocol and nonlinear systems with non-acknowledged protocol. The core of both the schemes resides in the online solution of an adequate reduced horizon optimal control problem.
Una delle strategie di controllo emerse più recentemente, più promettenti e di conseguenza più studiate negli ultimi anni è quella basata sull'approccio Receding Horizon. Grazie alle caratteristiche che contraddistinguono questa tecnica, cui si fa spesso riferimento anche col nome di Model Predictive Control, risulta piuttosto agevole trattare eventuali disturbi e incertezze di modellazione; tale metodo prevede infatti il calcolo di un nuovo ingresso di controllo per ciascun istante di campionamento, in seguito alla minimizzazione ad ogni passo di un'opportuna funzione di costo rispetto ad una sequenza di possibili futuri ingressi, inizializzata sulla base del valore dello stato del sistema all'istante considerato. Il controllo è dato dal primo elemento di tale sequenza ottima; tutto questo viene continuamente ripetuto, il che comporta un aggiornamento costante del segnale di controllo. Gli inconvenienti di questa tecnica risiedono nelle elevate risorse computazionali e nei tempi di calcolo richiesti, così da ridurne drasticamente l'applicabilità specie nel caso di sistemi con elevata dinamica. In questa tesi ci si concentrerà sulle caratteristiche di robustezza del controllore: l'importanza di quest'analisi risiede nel fatto che ogni sistema reale è soggetto a incertezze e disturbi di varia origine cui bisogna far fronte durante le normali condizioni di funzionamento. Inoltre, la capacità di gestire errori di modellazione, come si vedrà, può essere sfruttata per ottenere un notevole incremento delle prestazioni nella stima del valore da fornire in ingresso all'impianto: si tratta di ripartire l'errore complessivo in modo da garantirsi dei margini che consentano di lavorare con un'approssimazione della legge di controllo, come specificato più avanti. In tutto il lavoro si considereranno sistemi vincolati: l'interesse per questa caratteristica dipende dal fatto che nella pratica vanno sempre tenuti in considerazione eventuali vincoli su stato e ingressi: basti pensare al fatto che ogni impianto è progettato per lavorare solo all'interno un determinato insieme di configurazioni, determinato ad esempio da vincoli fisici su attuatori, sensori e così via: non riporre sufficiente attenzione in tali restrizioni può risultare nel danneggiamento del sistema di controllo o dell'impianto stesso. Le caratteristiche di stabilità di un sistema controllato mediante MPC dipendono in modo determinante dalla scelta dei parametri e degli attributi della funzione di costo da minimizzare; nel seguito, con riferimento al caso dei sistemi non lineari, saranno forniti suggerimenti e strumenti utili in tal senso, al fine di ottenere la stabilità anche in presenza di disturbi (che si assumeranno opportunamente limitati). Successivamente tale robustezza verrà sfruttata per la progettazione di controllori stabilizzanti approssimati: si dimostrerà infatti che, una volta progettato adeguatamente il sistema di controllo “esatto” basato su approccio RH e conseguentemente calcolati off-line i valori ottimi degli ingressi su una griglia opportunamente costruita sul dominio dello stato, il ricorso a una conveniente approssimazione di tali valori non compromette le proprietà di stabilità del sistema complessivo, che continua per di più a mantenere una certa robustezza. Da notare che ciò vale anche per sistemi non stabilizzabili mediante legge di controllo feedback continua: la funzione approssimante può essere ottenuta in questo caso con tecniche di tipo Nearest Neighbour; qualora invece la legge di controllo sia sufficientemente regolare si potrà far ricorso ad approssimatori smooth, quali ad esempio le reti neurali. Tutto ciò comporta un notevole miglioramento delle prestazioni del controllore RH sia dal punto di vista del tempo di calcolo richiesto che (nel secondo caso) della memoria necessaria ad immagazzinare i parametri del controllore, risultando nell'applicabilità dell'approccio basato su MPC anche al caso di sistemi con elevata dinamica. Un altro ambito in cui lo studio dell'influenza delle incertezze e dei disturbi sulla stabilità richiede una notevole attenzione è quello dei sistemi networked; anche in questo caso il ricorso all'MPC può portare a ottimi risultati di stabilità robusta, a patto di individuare un' opportuna struttura per il sistema complessivo ed effettuare scelte adeguate per il problema di ottimizzazione. In particolare, si considererà il caso di trasmissione di dati tra un controllore centralizzato e le varie parti dell'impianto in assenza di collegamento fisico diretto. Lo studio della stabilità dovrà allora tenere in considerazione la presenza di perdite di pacchetti o ritardi di trasmissione, condizioni tutt'altro che infrequenti per le reti. Saranno quindi proposte due distinte procedure, che si dimostreranno essere in grado di garantire robustezza a sistemi rispettivamente lineari comunicanti con protocolli di tipo TCP e non lineari in presenza di protocolli UDP. Questo secondo caso è senz'altro il più complesso ma allo stesso tempo il più concreto tra i due. Il nucleo del controllo è ancora basato su una tecnica MPC, ma stavolta il controllore è chiamato a risolvere il problema di ottimizzazione su un orizzonte “ridotto”, che consente la gestione dei ritardi e di eventuali perdite di pacchetto su determinati canali. La lunghezza dell'orizzonte dipenderà dalla presenza o meno dei segnali di ricezione del pacchetto (acknowledgement).
XXIII Ciclo
1977
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Pin, Gilberto. "Robust nonlinear receding horizon control with constraint tightening: off line approximation and application to networked control system." Doctoral thesis, Università degli studi di Trieste, 2009. http://hdl.handle.net/10077/3122.
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2007/2008Nonlinear Receding Horizon (RH) control, also known as moving horizon control or nonlinear Model Predictive Control (MPC), refers to a class of algorithms that make explicit use of a nonlinear process model to optimize the plant behavior, by computing a sequence of future ma- nipulated variable adjustments. Usually the optimal control sequence is obtained by minimizing a multi-stage cost functional on the basis of open-loop predictions. The presence of uncertainty in the model used for the optimization raises the question of robustness, i.e., the maintenance of certain properties such as stability and performance in the presence of uncertainty. The need for guaranteeing the closed-loop stability in presence of uncertainties motivates the conception of robust nonlinear MPC, in which the perturbations are explicitly taken in account in the design of the controller. When the nature of the uncertainty is know, and it is assumed to be bounded in some compact set, the robust RH control can be determined, in a natural way, by solving a min–max optimal control problem, that is, the performance objective is optimized for the worst-case scenario. However, the use of min-max techniques is limited by the high computational burden required to solve the optimization problem. In the case of constrained system, a possibility to ensure the robust constraint satisfaction and the closed-loop stability without resorting to min-max optimization consists in imposing restricted (tightened) constraints on the the predicted trajectories during the optimization. In this framework, an MPC scheme with constraint tightening for discrete-time nonlinear systems affected by state-dependent and norm bounded uncertainties is proposed and discussed. A novel method to tighten the constraints relying on the nominal state prediction is described, leading to less conservative set contractions than in the existing approaches. Moreover, by imposing a stabilizing state constraint at the end of the control horizon (in place of the usual terminal one placed at the end of the prediction horizon), less stringent assumptions can be posed on the terminal region, while improving the robust stability properties of the MPC closed-loop system. The robust nonlinear MPC formulation with tightened constraints is then used to design off- line approximate feedback laws able to guarantee the practical stability of the closed-loop system. By using off-line approximations, the computational burden due to the on-line optimization is removed, thus allowing for the application of the MPC to systems with fast dynamics. In this framework, we will also address the problem of approximating possibly discontinuous feedback functions, thus overcoming the limitation of existent approximation scheme which assume the continuity of the RH control law (whereas this condition is not always verified in practice, due to both nonlinearities and constraints). Finally, the problem of stabilizing constrained systems with networked unreliable (and de- layed) feedback and command channels is also considered. In order to satisfy the control ob- jectives for this class of systems, also referenced to as Networked Control Systems (NCS’s), a control scheme based on the combined use of constraint tightening MPC with a delay compen- sation strategy will be proposed and analyzed. The stability properties of all the aforementioned MPC schemes are characterized by using the regional Input-to-State Stability (ISS) tool. The ISS approach allows to analyze the depen- dence of state trajectories of nonlinear systems on the magnitude of inputs, which can represent control variables or disturbances. Typically, in MPC the ISS property is characterized in terms of Lyapunov functions, both for historical and practical reasons, since the optimal finite horizon cost of the optimization problem can be easily used for this task. Note that, in order to study the ISS property of MPC closed-loop systems, global results are in general not useful because, due to the presence of state and input constraints, it is impossible to establish global bounds for the multi-stage cost used as Lyapunov function. On the other hand local results do not allow to analyze the properties of the predictive control law in terms of its region of attraction. There- fore, regional ISS results have to employed for MPC controlled systems. Moreover, in the case of NCS, the resulting control strategy yields to a time-varying closed-loop system, whose stability properties can be analyzed using a novel regional ISS characterization in terms of time-varying Lyapunov functions.
XXI Ciclo
1980
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Peenze, Andries Jacobus. "Model predictive suspension control on off-road vechicles." Diss., University of Pretoria, 2019. http://hdl.handle.net/2263/79302.
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Reducing the rollover propensity of off-road vehicles while maintaining good ride comfort
and off-road capabilities is a well-known challenge. With controllable suspension systems,
the dynamics of the vehicle can be altered to give better performance than passive
suspension systems. The semi-active hydro-pneumatic suspension system under
consideration can switch between soft spring and a stiff spring, as well as between low and
high damping.
In this study, a model predictive controller, based on a linear quadratic regulator and
receding horizon theories, was developed to control individual struts of the suspension
system.
A combined handing and ride comfort metric was developed to determine the input weights
of the model predictive controller based on the driving conditions. The metric discerns
between a handling or emergency manoeuvre and normal driving on rough roads. It
changes the input weight accordingly to bias the controller towards a handling setting or a
ride comfort setting.
A 16 degree of freedom simulation model was validated for both the lateral and vertical
dynamics and found to be a close representation of the real Land Rover Defender 110 used
for the experiments. The controller was implemented into the simulation model to test and
ensure the controller worked as intended. The simulation model was validated at speeds
varying from 50 km/h to 80 km/h for severe double lane change handling manoeuvres. The
ride validation was performed over a rough Belgian paving track at speeds of 21 km/h and
47 km/h.
The controller was also experimentally validated for the double lane change, Belgian paving
and various other handling and ride comfort tests.
In the handling test, the controller performed well keeping the suspension in handling mode
and reducing the roll angle as compared to the ride comfort mode. Over the rough tracks,
the performance of the controller was not good and the suspension controller did
occasionally switch to the handling mode. Although the controller did switch over to the
handling mode the vehicle’s ride comfort wasn’t detrimentally influenced. Overall key aspects of the controller were identified for improvement to overcome the
problem experienced in ride comfort settings and also improve the handling of the vehicle.Dissertation (MEng)--University of Pretoria, 2019.
Mechanical and Aeronautical Engineering
MEng
Unrestricted
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Annamalai, Andy S. K. "An adaptive autopilot design for an uninhabited surface vehicle." Thesis, University of Plymouth, 2014. http://hdl.handle.net/10026.1/3100.
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An adaptive autopilot design for an uninhabited surface vehicle Andy SK Annamalai The work described herein concerns the development of an innovative approach to the design of autopilot for uninhabited surface vehicles. In order to fulfil the requirements of autonomous missions, uninhabited surface vehicles must be able to operate with a minimum of external intervention. Existing strategies are limited by their dependence on a fixed model of the vessel. Thus, any change in plant dynamics has a non-trivial, deleterious effect on performance. This thesis presents an approach based on an adaptive model predictive control that is capable of retaining full functionality even in the face of sudden changes in dynamics. In the first part of this work recent developments in the field of uninhabited surface vehicles and trends in marine control are discussed. Historical developments and different strategies for model predictive control as applicable to surface vehicles are also explored. This thesis also presents innovative work done to improve the hardware on existing Springer uninhabited surface vehicle to serve as an effective test and research platform. Advanced controllers such as a model predictive controller are reliant on the accuracy of the model to accomplish the missions successfully. Hence, different techniques to obtain the model of Springer are investigated. Data obtained from experiments at Roadford Reservoir, United Kingdom are utilised to derive a generalised model of Springer by employing an innovative hybrid modelling technique that incorporates the different forward speeds and variable payload on-board the vehicle. Waypoint line of sight guidance provides the reference trajectory essential to complete missions successfully. The performances of traditional autopilots such as proportional integral and derivative controllers when applied to Springer are analysed. Autopilots based on modern controllers such as linear quadratic Gaussian and its innovative variants are integrated with the navigation and guidance systems on-board Springer. The modified linear quadratic Gaussian is obtained by combining various state estimators based on the Interval Kalman filter and the weighted Interval Kalman filter. Change in system dynamics is a challenge faced by uninhabited surface vehicles that result in erroneous autopilot behaviour. To overcome this challenge different adaptive algorithms are analysed and an innovative, adaptive autopilot based on model predictive control is designed. The acronym ‘aMPC’ is coined to refer to adaptive model predictive control that is obtained by combining the advances made to weighted least squares during this research and is used in conjunction with model predictive control. Successful experimentation is undertaken to validate the performance and autonomous mission capabilities of the adaptive autopilot despite change in system dynamics.
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Vettorazzo, Carolina Maia. "Model predictive control of gas compression station in off-shore production platforms." reponame:Repositório Institucional da UFSC, 2016. https://repositorio.ufsc.br/xmlui/handle/123456789/179945.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2016.Made available in DSpace on 2017-10-10T04:09:13Z (GMT). No. of bitstreams: 1 348412.pdf: 1522637 bytes, checksum: bfc8477785a30cc5de8726097fb056f2 (MD5) Previous issue date: 2016
Uma plataforma off-shore normalmente produz petróleo bruto e gás natural. O gás é tratado para a remoção da humidade e sua pressão e sua temperatura são modificadas de acordo com sua aplicação final. Parte do gás é direcionado para a linha de exportação de gás para ser comercializado. Muitas vezes o gás é utilizado por poços que operam com elevação por gaslift. O gás natural também é usado em turbinas para gerar eletricidade. Um sistema de compressão de gás é uma parte importante de uma unidade de produção off-shore de petróleo. O tipo de compressor mais usado em um sistema de compressão de gás é o compressor centrífugo. Uma falha do compressor pode fazer com que uma unidade de produção completa seja desligada. Os compressores centrífugos têm limites operacionais muito restritos e são muito sensíveis a mudanças na vazão de entrada de gás ou nas propriedades do mesmo. O compressor pode entrar em surge, que é uma condição operacional instável caracterizada pelo fluxo reverso de gás dentro do compressor e que pode acontecer quando a vazão de entrada de gás é muito baixa. Um compressor centrífugo que opera em surge não comprimirá o gás corretamente, causando danos permanentes à máquina. O procedimento normal utilizado quando se detecta a ocorrência de surge é parar o compressor. Geralmente, os compressores centrífugos são instalados com um controle regulatório que inclui a prevenção de surge. No entanto, mudanças bruscas na vazão de entrada de gás e na composição do gás são conhecidas por fazer com que o compressor centrífugo pare com frequência. Esta dissertação propõe um controlador MPC que reduz o consumo de energia do sistema de compressão e melhora sua proteção contra surge. Este trabalho também apresenta a modelagem de uma estação de compressão real composta de dois compressores de três estágios. Com base na análise do comportamento do sistema e da relação dinâmica entre as entradas e saídas do sistema, são propostas e testadas duas formulações de MPC diferentes. Para ajustar o controlador MPC foi aplicada a técnica de ajuste satisfatório, melhorando o desempenho do controlador.
Abstract : An offshore oil production unit normally produces crude oil and natural gas. The gas is treated for removal of moisture and its pressure and temperature are conditioned to its target application. Part of the gas is directed to the gas export line for sales. Often it is used by wells operating with gas lift. Natural gas is also used in turbines to generate electricity. A gas compression system is an important part of an offshore oil production unit. The most important type of equipment used in a gas compression system is the centrifugal compressor. A compressor failure may cause a complete production unit shut down. Centrifugal compressors have a limited operational range and are very sensitive to changes in the gas flow rate or in its properties. Compressor surge is an unstable operational condition characterized by reverse flow inside the compressor and it can happen when the gas flow rate is too low. A centrifugal compressor operating in surge mode will not compress the gas as required and the machine could be damaged permanently. The normal procedure used when surge is detected is to stop the compressor. Usually centrifugal compressors are installed with a regulatory control that includes the avoidance of surge. But abrupt changes in gas flowrate and gas composition are known to cause centrifugal compressor to stop the production operations too often. This dissertation proposes a MPC controller that reduces the energy consumption of the compression system and improves its protection against surge. This work also presents the modeling of a real compression station composed of two three-stage compressors. Based on the analysis of the system?s behavior and the dynamic relation between inputs and outputs, two different MPC formulations are proposed and tested. To tune the MPC controller the satisficing tuning technique is applied, improving the controller?s performance.
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NARDINI, ALBERTO. "Development of a thermomechanical and metallurgical model in order to design a predictive control tool in line." Doctoral thesis, Università Politecnica delle Marche, 2018. http://hdl.handle.net/11566/257295.
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This project wants to build up a model which is able to predict mechanical properties achieved depending on parameters governing the inline thermal treatment developed by Siemens Metals Technologies between multiple rolling stages.
Such technologies consists in a specific treatment of quenching and tempering processes, like the Rail Head Hardening System that is actually the new evolutional technology to increase the performances in terms of safety and wear of the high speed train railways.
In order to guarantee a model which could be considered as more flexible as possible, the results want to be exploitable even in case of necessity to model other thermal processes.
The model will be developed in order to achieve the exact simulation for thermal treatment proposed by Siemens Metals Technologies, but it will be simply adjustable in order to allow predictions even in case of other thermal processes.
The approach which is going to be followed is the result of the compromise among the trial to develop a model on the state of the art, the in-field results offered by Siemens Metals Technologies and the experimental validation executable into the laboratories.
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Alaya, Oussama, and Maik Fiedler. "Optimal pressure control using switching solenoid valves." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200545.
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This paper presents the mathematical modeling and the design of an optimal pressure tracking controller for an often used setup in pneumatic applications. Two pneumatic chambers are connected with a pneumatic tube. The pressure in the second chamber is to be controlled using two switching valves connected to the first chamber and based on the pressure measurement in the first chamber. The optimal control problem is formulated and solved using the MPC framework. The designed controller shows good tracking quality, while fulfilling hard constraints, like maintaining the pressure below a given upper bound.
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Braconnier, Jean-Baptiste. "Maintien de l'intégrité de robots mobiles en milieux naturels." Thesis, Clermont-Ferrand 2, 2016. http://www.theses.fr/2016CLF22667/document.
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La problématique étudiée dans cette thèse concerne le maintien de l’intégrité de robots mobiles en milieux naturels. L’objectif est de fournir des lois de commande permettant de garantir l’intégrité d’un véhicule lors de déplacements autonomes en milieux naturels à vitesse élevée (5 à 7 m.s -1 ) et plus particulièrement dans le cadre de l’agriculture de précision. L’intégrité s’entend ici au sens large. En effet, l’asservissement des déplacements d’un robot mobile peut générer des consignes nuisant à son intégrité physique, ou à la réalisation de sa tâche (renversement, tête-à-queue, stabilité des commandes, maintien de la précision, etc.). De plus, le déplacement en milieux naturels amène des problématiques liées notamment à des conditions d’adhérence variables et relativement faibles (d’autant plus que la vitesse du véhicule est élevée), ce qui se traduit par de forts glissements des roues sur le sol, ou encore à des géométries de terrains non traversables par le robot. Aussi, cette thèse vise à déterminer en temps réel l’espace de stabilité en terme de commandes admissibles permettant de modérer les actions du robot. Après une présentation des modélisations existantes, et des observateurs permettant l’exploitation de ces modélisations pour la mise en place de loi de commande prédictive en braquage pour le suivi de trajectoire, une nouvelle méthode d’estimation des glissements basé sur une observation cinématique est proposée. Celle-ci permet de répondre aux problématiques de vitesse variable (et notamment du passage de la vitesse par des valeurs nulles) du véhicule et d’observation lors d’un déplacement sans trajectoire de référence. Ce nouvel observateur est primordial pour la suite des développements de cette thèse, puisque la suite des travaux s’intéresse à la modulation de la vitesse du véhicule. Ainsi, dans la suite des travaux, deux lois de commande prédictives agissant sur la vitesse du véhicule ont été mises en place. La première apporte une solution à la problématique de la saturation des actionneurs en braquage, lorsque la vitesse ou les glissements rendent la trajectoire à suivre inadmissible vis-à-vis des capacités physiques du véhicule. La deuxième répond à la problématique de la garantie de la précision du suivi de trajectoire (maintien du véhicule dans un couloir de déplacement). Dans les deux cas la stratégie de commande est similaire : on prédit l’état futur du véhicule en fonction de ses conditions d’évolution actuelle et de conditions d’évolutions futures simulées (obtenues grâce à la simulation de l’évolution d’un modèle dynamique du véhicule) afin de déterminer la valeur de la vitesse optimale pour que les variables cibles (dans un cas la valeur du braquage et dans l’autre l’écart à la trajectoire) respectent les conditions imposées (non-dépassement d’une valeur cible). Les résultats présentés dans ce mémoire ont été réalisés soit en simulations, soit en conditions réelles sur des plateformes robotiques. Il en découle que les algorithmes proposés permettent dans un cas de réduire la vitesse du véhicule pour éviter la saturation du braquage et donc les phénomènes de sur et sous virage qui en découlerait et donc permet de conserver la commandabilité du véhicule. Et dans l’autre cas de garantir que l’écart à la trajectoire reste sous une valeur cibleThis thesis focused on the issue of the preseving of the integrity of mobile robots in off-road conditions. The objective is to provide control laws to guarantee the integrity of a vehicle during autonomous displacements in natural environments at high speed (5 to 7 m.s -1 ) and more particularly in The framework of precision farming. Integrity is here understood in the broad sense. Indeed, control of the movements of a mobile robot can generate orders that affect its physical integrity, or restrains the achievement of its task (rollover, spin, control stability, maintaining accuracy , etc.). Moreover, displacement in natural environments leads to problems linked in particular to relatively variable and relatively low adhesion conditions (especially since the speed of the vehicle is high), which results in strong sliding of wheels on the ground, or to ground geometries that can not be crossed by the robot. This thesis aims to determine in real time the stability space in terms of permissible controls allowing to moderate the actions of the robot. After a presentation of the existing modelings and observers that allow the use of these modelizations for the implementation of predictive control law for trajectory tracking, a new method of estimation of side-slip angles based on a kinematic observation is proposed. It permit to address the problem of variable speed of the vehicle (and in particular the case of zero values) and also to allow the observation during a displacement without reference trajectory. This new observer is essential for the further development of this thesis, since the rest of the work is concerned with the modulation of the speed of the vehicle. So, in the further work, two predictive control laws acting on the speed of the vehicle have been set up. The first one provides a solution to the problem of the saturation of steering actuators, when the speed or side-slip angles make the trajectory inadmissible to follow with respect to the physical capacities of the vehicle. The second one adress the problem of guaranteeing the accuracy of trajectory tracking (keeping the vehicle in a corridor of displacement). In both cases, the control strategy is similar: the future state of the vehicle is predicted according to the current conditions of evolution and the simulated one for the future evolution (obtained by simulating the evolution of dynamics models of the vehicle) in order to determine the value of the optimum speed so that the target variables (in one case the value of the steering and in the other the lateral deviation from the trajectory) comply with the imposed conditions (not exceeding a target value). The results presented in this thesis were realized either in simulations or in real conditions on robotic platforms. It follows that the proposed algorithms make it possible : in one case to reduce the speed of the vehicle in order to avoid the saturation of the steering actuator and therefore the resulting over and under steering phenomena and thus make it possible to preserve the vehicle’s controllability. And in the other case, to ensure that the lateral deviation from the trajectory remains below a target value
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Guillet, Audrey. "Commande locale décentralisée de robots mobiles en formation en milieu naturel." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22609/document.
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La problématique étudiée dans cette thèse concerne le guidage en formation d’une flotte de robots mobiles en environnement naturel. L’objectif poursuivi par les robots est de suivre une trajectoire connue (totalement ou partiellement) en se coordonnant avec les autres robots pour maintenir une formation décrite comme un ensemble de distances désirées entre les véhicules. Le contexte d’évolution en environnement naturel doit être pris en compte par les effets qu’il induit sur le déplacement des robots. En effet, les conditions d’adhérence sont variables et créent des glissements significatifs des roues sur le sol. Ces glissements n’étant pas directement mesurables, un observateur est mis en place, permettant d’obtenir une estimation de leur valeur. Les glissements sont alors intégrés au modèle d’évolution, décrivant ainsi un modèle cinématique étendu. En s’appuyant sur ce modèle, des lois de commande adaptatives sur l’angle de braquage et la vitesse d’avance d’un robot sont alors conçues indépendamment, asservissant respectivement son écart latéral à la trajectoire et l’interdistance curviligne de ce robot à une cible. Dans un second temps, ces lois de commande sont enrichies par un algorithme prédictif, permettant de prendre en compte le comportement de réponse des actionneurs et ainsi d’éviter les erreurs conséquentes aux retards de la réponse du système aux commandes. À partir de la loi de commande élémentaire en vitesse permettant d’assurer un asservissement précis d’un robot par rapport à une cible, une stratégie de commande globale au niveau de la flotte est établie. Celle-ci décline l’objectif de maintien de la formation en consigne d’asservissement désiré pour chaque robot. La stratégie de commande bidirectionnelle conçue stipule que chaque robot définit deux cibles que sont le robot immédiatement précédent et le robot immédiatement suivant dans la formation. La commande de vitesse de chaque robot de la formation est obtenue par une combinaison linéaire des vitesses calculées par la commande élémentaire par rapport à chacune des cibles. L’utilisation de coefficients de combinaison constants au sein de la flotte permet de prouver la stabilité de la commande en formation, puis la définition de coefficients variables est envisagée pour adapter en temps réel le comportement de la flotte. La formation peut en effet être amenée à évoluer, notamment en fonction des impératifs de sécurisation des véhicules. Pour répondre à ce besoin, chaque robot estime en temps réel une distance d’arrêt minimale en cas d’urgence et des trajectoires d’urgence pour l’évitement du robot précédent. D’après la configuration de la formation et les comportements d’urgence calculés, les distances désirées au sein de la flotte peuvent alors être modifiées en ligne afin de décrire une configuration sûre de la formationThis thesis focuses on the issue of the control of a formation of wheeled mobile robots travelling in off-road conditions. The goal of the application is to follow a reference trajectory (entirely or partially) known beforehand. Each robot of the fleet has to track this trajectory while coordinating its motion with the other robots in order to maintain a formation described as a set of desired distances between vehicles. The off-road context has to be considered thoroughly as it creates perturbations in the motion of the robots. The contact of the tire on an irregular and slippery ground induces significant slipping and skidding. These phenomena are hardly measurable with direct sensors, therefore an observer is set up in order to get an estimation of their value. The skidding effect is included in the evolution of each robot as a side-slip angle, thus creating an extended kinematic model of evolution. From this model, adaptive control laws on steering angle and velocity for each robot are designed independently. These permit to control respectively the lateral distance to the trajectory and the curvilinear interdistance of the robot to a target. Predictive control techniques lead then to extend these control laws in order to account for the actuators behavior so that positioning errors due to the delay of the robot response to the commands are cancelled. The elementary control law on the velocity control ensures an accurate longitudinal positioning of a robot with respect to a target. It serves as a base for a global fleet control strategy which declines the overall formation maintaining goal in local positioning objective for each robot. A bidirectionnal control strategy is designed, in which each robot defines 2 targets, the immediate preceding and following robot in the fleet. The velocity control of a robot is finally defined as a linear combination of the two velocity commands obtained by the elementary control law for each target. The linear combination parameters are investigated, first defining constant parameters for which the stability of the formation is proved through Lyapunov techniques, then considering the effect of variable coefficients in order to adapt in real time the overall behavior of the formation. The formation configuration can indeed be prone to evolve, for application purposes and to guarantee the security of the robots. To fulfill this latter requirement, each robot of the fleet estimates in real time a minimal stopping distance in case of emergency and two avoidance trajectories to get around the preceding vehicle if this one suddenly stops. Given the initial configuration of the formation and the emergency behaviors calculated, the desired distances between the robots can be adapted so that the new configuration thus described ensures the security of each and every robot of the formation against potential collisions
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Qian, Jun. "Identification paramétrique en boucle fermée par une commande optimale basée sur l’analyse d’observabilité." Thesis, Lyon 1, 2015. http://www.theses.fr/2015LYO10113/document.
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Dans un objectif conjoint d'identification paramétrique en ligne, les méthodes développées dans cette thèse permettent de concevoir en ligne et en boucle fermée les entrées optimales qui enrichissent les informations contenues dans l'expérience en cours. Ces méthodes reposent sur des mesures en temps réel du procédé, sur un modèle dynamique non linéaire (ou linéaire) multi-variable choisi du procédé, sur un modèle de sensibilité des mesures par rapport aux paramètres à estimer et sur un observateur non linéaire. L'analyse de l'observabilité et des techniques de commande prédictive permettent de définir la commande optimale qui est déterminée en ligne par optimisation sous contraintes. Des aspects de stabilisation sont également étudiés (via un apport de contraintes fictives ou via une technique de Lyapunov). Enfin, une loi de commande explicite pour le cas particulier du système d'ordre un est développée. Des exemples illustratifs sont traités via le logiciel ODOE4OPE : un bioréacteur, un réacteur continu parfaitement agité et une aile delta. Ces exemples permettent de voir que l'estimation des paramètres peut être réalisée avec une bonne précision, et à moindre coût expérimental en une expérienceFor online parameter identification, the developed methods here allow to design online and in closed loop optimal inputs that enrich the information in the current experience. These methods are based on real-time measurements of the process, on a dynamic nonlinear (or linear) multi-variable model, on a sensitivity model of measurements with respect to the parameters to be estimated and a nonlinear observer. Analysis of observability and predictive control techniques are used to define the optimal control which is determined online by constrained optimization. Stabilization aspects are also studied (by adding fictitious constraints or by a Lyapunov technique). Finally, for the particular case of a first order linear system, the explicit control law is developed. Illustrative examples are processed via the ODOE4OPE software : a bio-reactor, a continuous stirred tank reactor and a delta wing. These examples help to see that the parameter estimation can be performed with good accuracy in a single and less costly experiment
Books on the topic "Off line Model Predictive Control"
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Bogumil, Veniamin, and Sarango Duke. Telematics on urban passenger transport. ru: INFRA-M Academic Publishing LLC., 2022. http://dx.doi.org/10.12737/1819882.
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The monograph discusses the application of telematics in dispatch control systems in urban passenger transport. The role of telematics as a technological basis in automating the solution of control tasks, accounting and analysis of the volume and quality of transport work in modern dispatch control systems on urban passenger transport is shown. Analytical models have been developed to estimate the capacity of a high-speed bus transportation system on a dedicated line. Mathematical models and algorithms for predicting passenger vehicle interior filling at critical stages of urban passenger transport routes are presented. The issues of application of the concept of the phase space of states introduced by the authors to assess the quality of the passenger transportation process on the route of urban passenger transport are described. The developed classification of service levels and their application in order to inform passengers at stopping points about the degree of filling of the passenger compartment of the arriving vehicle is described. The material is based on the results of theoretical research and practical work on the creation and implementation of automated control systems for urban passenger transport in Russian cities. The material of M.H. Duque Sarango's dissertation submitted for the degree of Candidate of Technical Sciences in the specialty 05.22.10 "Operation of motor transport" was used.
It will be useful to specialists in the field of telematics on urban passenger transport.
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Butz, Martin V., and Esther F. Kutter. How the Mind Comes into Being. Oxford University Press, 2017. http://dx.doi.org/10.1093/acprof:oso/9780198739692.001.0001.
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For more than 2000 years Greek philosophers have thought about the puzzling introspectively assessed dichotomy between our physical bodies and our seemingly non-physical minds. How is it that we can think highly abstract thoughts, seemingly fully detached from actual, physical reality? Despite the obvious interactions between mind and body (we get tired, we are hungry, we stay up late despite being tired, etc.), until today it remains puzzling how our mind controls our body, and vice versa, how our body shapes our mind. Despite a big movement towards embodied cognitive science over the last 20 years or so, introductory books with a functional and computational perspective on how human thought and language capabilities may actually have come about – and are coming about over and over again – are missing. This book fills that gap. Starting with a historical background on traditional cognitive science and resulting fundamental challenges that have not been resolved, embodied cognitive science is introduced and its implications for how human minds have come and continue to come into being are detailed. In particular, the book shows that evolution has produced biological bodies that provide “morphologically intelligent” structures, which foster the development of suitable behavioral and cognitive capabilities. While these capabilities can be modified and optimized given positive and negative reward as feedback, to reach abstract cognitive capabilities, evolution has furthermore produced particular anticipatory control-oriented mechanisms, which cause the development of particular types of predictive encodings, modularizations, and abstractions. Coupled with an embodied motivational system, versatile, goal-directed, self-motivated behavior, learning becomes possible. These lines of thought are introduced and detailed from interdisciplinary, evolutionary, ontogenetic, reinforcement learning, and anticipatory predictive encoding perspectives in the first part of the book. A short excursus then provides an introduction to neuroscience, including general knowledge about brain anatomy, and basic neural and brain functionality, as well as the main research methodologies. With reference to this knowledge, the subsequent chapters then focus on how the human brain manages to develop abstract thought and language. Sensory systems, motor systems, and their predictive, control-oriented interactions are detailed from a functional and computational perspective. Bayesian information processing is introduced along these lines as are generative models. Moreover, it is shown how particular modularizations can develop. When control and attention come into play, these structures develop also dependent on the available motor capabilities. Vice versa, the development of more versatile motor capabilities depends on structural development. Event-oriented abstractions enable conceptualizations and behavioral compositions, paving the path towards abstract thought and language. Also evolutionary drives towards social interactions play a crucial role. Based on the developing sensorimotor- and socially-grounded structures, the human mind becomes language ready. The development of language in each human child then further facilitates the self-motivated generation of abstract, compositional, highly flexible thought about the present, past, and future, as well as about others. In conclusion, the book gives an overview over how the human mind comes into being – sketching out a developmental pathway towards the mastery of abstract and reflective thought, while detailing the critical body and neural functionalities, and computational mechanisms, which enable this development.
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Read, John, and Peter Stacey. Guidelines for Open Pit Slope Design. CSIRO Publishing, 2009. http://dx.doi.org/10.1071/9780643101104.
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Guidelines for Open Pit Slope Design is a comprehensive account of the open pit slope design process. Created as an outcome of the Large Open Pit (LOP) project, an international research and technology transfer project on rock slope stability in open pit mines, this book provides an up-to-date compendium of knowledge of the slope design processes that should be followed and the tools that are available to aid slope design practitioners.
This book links innovative mining geomechanics research into the strength of closely jointed rock masses with the most recent advances in numerical modelling, creating more effective ways for predicting rock slope stability and reliability in open pit mines. It sets out the key elements of slope design, the required levels of effort and the acceptance criteria that are needed to satisfy best practice with respect to pit slope investigation, design, implementation and performance monitoring.
Guidelines for Open Pit Slope Design comprises 14 chapters that directly follow the life of mine sequence from project commencement through to closure. It includes: information on gathering all of the field data that is required to create a 3D model of the geotechnical conditions at a mine site; how data is collated and used to design the walls of the open pit; how the design is implemented; up-to-date procedures for wall control and performance assessment, including limits blasting, scaling, slope support and slope monitoring; and how formal risk management procedures can be applied to each stage of the process.
This book will assist in meeting stakeholder requirements for pit slopes that are stable, in regards to safety, ore recovery and financial return, for the required life of the mine.
Book chapters on the topic "Off line Model Predictive Control"
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Franzè, Giuseppe, Alessandro Casavola, Domenico Famularo, and Emanuele Garone. "An Off-Line MPC Strategy for Nonlinear Systems Based on SOS Programming." In Nonlinear Model Predictive Control, 491–99. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01094-1_39.
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Hajiloo, Amir, Mohammad Keshmiri, and Wen-Fang Xie. "On–Line Model Predictive Control for Constrained Image Based Visual Servoing of a Manipulator." In 2015 Proceedings of the Conference on Control and its Applications, 220–27. Philadelphia, PA: Society for Industrial and Applied Mathematics, 2015. http://dx.doi.org/10.1137/1.9781611974072.31.
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Chisci, Luigi, J. Anthony Rossiter, and Giovanni Zappa. "Iterative Active-set Method for Efficient On-line MPC Design." In Nonlinear Model Predictive Control, 335–45. Basel: Birkhäuser Basel, 2000. http://dx.doi.org/10.1007/978-3-0348-8407-5_18.
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Tan, Adrian Soon Theam, Dahaman Ishak, Rosmiwati Mohd-Mokhtar, and Sze Sing Lee. "Model Predictive Control of Off-board PEV Charger." In 10th International Conference on Robotics, Vision, Signal Processing and Power Applications, 167–72. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-6447-1_21.
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Henry, Léo, Thierry Jéron, and Nicolas Markey. "Control Strategies for Off-Line Testing of Timed Systems." In Model Checking Software, 171–89. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-94111-0_10.
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Madsen, O., J. Lauridsen, H. Holm, J. Boelskifte, and I. Hafsteinsson. "Model of Root-Bead Welding for Off-line Programming and Control." In Computer Applications in Production Engineering, 847–55. Boston, MA: Springer US, 1995. http://dx.doi.org/10.1007/978-0-387-34879-7_88.
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Lincy, R. Babitha, and R. Gayathri. "Off-Line Tamil Handwritten Character Recognition Based on Convolutional Neural Network with VGG16 and VGG19 Model." In Advances in Automation, Signal Processing, Instrumentation, and Control, 1935–45. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-8221-9_180.
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Taparia, Rajashree. "Model predictive-based control for supplies of medicines during COVID-19." In Internet of Things and Fog Computing-Enabled Solutions for Real-Life Challenges, 85–94. Boca Raton: CRC Press, 2022. http://dx.doi.org/10.1201/9781003230236-5.
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Navarro, Adrian, María Jose Checa, Francisco Lario, Laura Luquero, Asunción Roldán, and Jesús Estrada. "Monitoring Forest Health: Big Data Applied to Diseases and Plagues Control." In Big Data in Bioeconomy, 335–49. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-71069-9_25.
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AbstractIn this chapter, we present the technological background needed for understanding the problem addressed by this DataBio pilot. Spain has to face plagues and diseases affecting forest species, like Quercus ilex, Quercus suber or Eucaliptus sp. Consequently, Spanish Public Administrations need updated information about the health status of forests. This chapter explains the methodology created based on remote sensing images (satellite + aerial + Remotely Piloted Aircraft Systems (RPAS)) and field data for monitoring the mentioned forest status. The work focused on acquiring data for establishing the relationships between RPAS generated data and field data, and on the creation of a correlation model to obtain a prospection and prediction algorithm based on spectral data for early detection and monitoring of decaying trees. Those data were used to establish the links between EO image-derived indexes and biophysical parameters from field data allowing a health status monitoring for big areas based on EO information. This solution is providing Public Administrations with valuable information to help decision making.
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Zanma, Tadanao, and Nobuhiro Asano. "Off-line Model Predictive Control of DC-DC Converter." In Model Predictive Control. Sciyo, 2010. http://dx.doi.org/10.5772/46957.
Full textConference papers on the topic "Off line Model Predictive Control"
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Stoica, Cristina, Pedro Rodriguez-Ayerbe, and Didier Dumur. "Off-line improvement of multivariable model predictive control robustness." In 2007 46th IEEE Conference on Decision and Control. IEEE, 2007. http://dx.doi.org/10.1109/cdc.2007.4434591.
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Peng, H., T. Ozaki, Y. Toyoda, and V. Haggan-Ozaki. "Nonlinear predictive control based on a global model identified off-line." In Proceedings of 2002 American Control Conference. IEEE, 2002. http://dx.doi.org/10.1109/acc.2002.1024590.
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Nikolaou, Michael, and Hasmet Genceli. "Establishing Performance Targets for Model Predictive Control Systems through off-line Optimization." In 1991 American Control Conference. IEEE, 1991. http://dx.doi.org/10.23919/acc.1991.4791700.
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Tao, Xiangyuan, Ning Li, and Shaoyuan Li. "Multiple-model off-line predictive control for fast time-varying systems." In 2013 25th Chinese Control and Decision Conference (CCDC). IEEE, 2013. http://dx.doi.org/10.1109/ccdc.2013.6561019.
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Zhaoyang Wan and M. V. Kothare. "Robust output feedback model predictive control using off-line linear matrix inequalities." In Proceedings of American Control Conference. IEEE, 2001. http://dx.doi.org/10.1109/acc.2001.946113.
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Gautam, Ajay, and Yeng Chai Soh. "Soft-constrained model predictive control based on off-line-computed feasible sets." In 2013 IEEE 52nd Annual Conference on Decision and Control (CDC). IEEE, 2013. http://dx.doi.org/10.1109/cdc.2013.6760800.
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Yuya Kamide, Tadanao Zanma, and Muneaki Ishida. "Position control using off-line model predictive control in piecewise affine system experimental verification." In 2008 10th IEEE International Workshop on Advanced Motion Control (AMC). IEEE, 2008. http://dx.doi.org/10.1109/amc.2008.4516061.
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Peng, Kaiyu, Su-Dan Huang, Guang-Zhong Cao, Yan Liu, and Gang Jing. "Off-line Robust Model Predictive Control of Set-point Positioning for Planar Switched Reluctance Motors." In 2021 IEEE International Conference on Predictive Control of Electrical Drives and Power Electronics (PRECEDE). IEEE, 2021. http://dx.doi.org/10.1109/precede51386.2021.9681023.
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Qin Weiwei, Zheng Zhiqiang, Li Peng, and Liu Gang. "Improved off-line formulation of robust model predictive control for a discrete time incertain system." In 2009 International Conference on Mechatronics and Automation (ICMA). IEEE, 2009. http://dx.doi.org/10.1109/icma.2009.5246429.
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Ping, Xubin, Ning Sun, and Baocang Ding. "An off-line approach to dynamic output feedback robust model predictive control with ellipsoidal estimation error set." In 2014 26th Chinese Control And Decision Conference (CCDC). IEEE, 2014. http://dx.doi.org/10.1109/ccdc.2014.6852325.
Full textReports on the topic "Off line Model Predictive Control"
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Alchanatis, Victor, Stephen W. Searcy, Moshe Meron, W. Lee, G. Y. Li, and A. Ben Porath. Prediction of Nitrogen Stress Using Reflectance Techniques. United States Department of Agriculture, November 2001. http://dx.doi.org/10.32747/2001.7580664.bard.
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Commercial agriculture has come under increasing pressure to reduce nitrogen fertilizer inputs in order to minimize potential nonpoint source pollution of ground and surface waters. This has resulted in increased interest in site specific fertilizer management. One way to solve pollution problems would be to determine crop nutrient needs in real time, using remote detection, and regulating fertilizer dispensed by an applicator. By detecting actual plant needs, only the additional nitrogen necessary to optimize production would be supplied. This research aimed to develop techniques for real time assessment of nitrogen status of corn using a mobile sensor with the potential to regulate nitrogen application based on data from that sensor. Specifically, the research first attempted to determine the system parameters necessary to optimize reflectance spectra of corn plants as a function of growth stage, chlorophyll and nitrogen status. In addition to that, an adaptable, multispectral sensor and the signal processing algorithm to provide real time, in-field assessment of corn nitrogen status was developed. Spectral characteristics of corn leaves reflectance were investigated in order to estimate the nitrogen status of the plants, using a commercial laboratory spectrometer. Statistical models relating leaf N and reflectance spectra were developed for both greenhouse and field plots. A basis was established for assessing nitrogen status using spectral reflectance from plant canopies. The combined effect of variety and N treatment was studied by measuring the reflectance of three varieties of different leaf characteristic color and five different N treatments. The variety effect on the reflectance at 552 nm was not significant (a = 0.01), while canonical discriminant analysis showed promising results for distinguishing different variety and N treatment, using spectral reflectance. Ambient illumination was found inappropriate for reliable, one-beam spectral reflectance measurement of the plants canopy due to the strong spectral lines of sunlight. Therefore, artificial light was consequently used. For in-field N status measurement, a dark chamber was constructed, to include the sensor, along with artificial illumination. Two different approaches were tested (i) use of spatially scattered artificial light, and (ii) use of collimated artificial light beam. It was found that the collimated beam along with a proper design of the sensor-beam geometry yielded the best results in terms of reducing the noise due to variable background, and maintaining the same distance from the sensor to the sample point of the canopy. A multispectral sensor assembly, based on a linear variable filter was designed, constructed and tested. The sensor assembly combined two sensors to cover the range of 400 to 1100 nm, a mounting frame, and a field data acquisition system. Using the mobile dark chamber and the developed sensor, as well as an off-the-shelf sensor, in- field nitrogen status of the plants canopy was measured. Statistical analysis of the acquired in-field data showed that the nitrogen status of the com leaves can be predicted with a SEP (Standard Error of Prediction) of 0.27%. The stage of maturity of the crop affected the relationship between the reflectance spectrum and the nitrogen status of the leaves. Specifically, the best prediction results were obtained when a separate model was used for each maturity stage. In-field assessment of the nitrogen status of corn leaves was successfully carried out by non contact measurement of the reflectance spectrum. This technology is now mature to be incorporated in field implements for on-line control of fertilizer application.
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Landau, Sergei Yan, John W. Walker, Avi Perevolotsky, Eugene D. Ungar, Butch Taylor, and Daniel Waldron. Goats for maximal efficacy of brush control. United States Department of Agriculture, March 2008. http://dx.doi.org/10.32747/2008.7587731.bard.
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Background. Brush encroachment constitutes a serious problem in both Texas and Israel. We addressed the issue of efficacy of livestock herbivory - in the form of goat browsing - to change the ecological balance to the detriment of the shrub vegetation. Shrub consumption by goats is kept low by plant chemical defenses such as tannins and terpenes. Scientists at TAES and ARO have developed an innovative, cost-effective methodology using fecal Near Infrared Spectrometry to elucidate the dietary percentage of targeted, browse species (terpene-richredberry and blueberry juniper in the US, and tannin-rich Pistacialentiscus in Israel) for a large number of animals. The original research objectives of this project were: 1. to clarify the relative preference of goat breeds and the individual variation of goats within breeds, when consuming targeted brush species; 2. to assess the heritability of browse intake and validate the concept of breeding goat lines that exhibit high preference for chemically defended brush, using juniper as a model; 3. to clarify the relative contributions of genetics and learning on the preference for target species; 4. to identify mechanisms that are associated with greater intake of brush from the two target species; 5. to establish when the target species are the most vulnerable to grazing. (Issue no.5 was addressed only partly.) Major conclusions, solutions, achievements: Both the Israel and US scientists put significant efforts into improving and validating the technique of Fecal NIRS for predicting the botanical composition of goat diets. Israeli scientists validated the use of observational data for calibrating fecal NIRS, while US scientists established that calibrations could be used across animals differing in breed and age but that caution should be used in making comparisons between different sexes. These findings are important because the ability to select goat breeds or individuals within a breed for maximal efficiency of brush control is dependent upon accurate measurement of the botanical composition of the diet. In Israel it was found that Damascus goats consume diets more than twice richer in P. lentiscus than Mamber or Boer goats. In the US no differences were found between Angora and Boer cross goats but significant differences were found between individuals within breeds in juniper dietary percentage. In both countries, intervention strategies were found that further increased the consumption of the chemically defended plant. In Israel feeding polyethylene glycol (PEG, MW 4,000) that forms high-affinity complexes with tannins increased P. lentiscus dietary percentage an average of 7 percentage units. In the US feeding a protein supplement, which enhances rates of P450-catalyzed oxidations and therefore the rate of oxidation of monoterpenes, increased juniper consumption 5 percentage units. However, the effects of these interventions were not as large as breed or individual animal effects. Also, in a wide array of competitive tannin-binding assays in Israel with trypsin, salivary proteins did not bind more tannic acid or quebracho tannin than non-specific bovine serum albumin, parotid saliva did not bind more tannins than mixed saliva, no response of tannin-binding was found to levels of dietary tannins, and the breed effect was of minor importance, if any. These fundings strongly suggest that salivary proteins are not the first line of defense from tannin astringency in goats. In the US relatively low values for heritability and repeatability for juniper consumption were found (13% and 30%, respectively), possibly resulting from sampling error or non-genetic transfer of foraging behavior, i.e., social learning. Both alternatives seem to be true as significant variation between sequential observations were noted on the same animal and cross fostering studies conducted in Israel demonstrated that kids raised by Mamber goats showed lower propensity to consume P. lentiscus than counterparts raised by Damascus goats.
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Galili, Naftali, Roger P. Rohrbach, Itzhak Shmulevich, Yoram Fuchs, and Giora Zauberman. Non-Destructive Quality Sensing of High-Value Agricultural Commodities Through Response Analysis. United States Department of Agriculture, October 1994. http://dx.doi.org/10.32747/1994.7570549.bard.
Full textAbstract:
The objectives of this project were to develop nondestructive methods for detection of internal properties and firmness of fruits and vegetables. One method was based on a soft piezoelectric film transducer developed in the Technion, for analysis of fruit response to low-energy excitation. The second method was a dot-matrix piezoelectric transducer of North Carolina State University, developed for contact-pressure analysis of fruit during impact. Two research teams, one in Israel and the other in North Carolina, coordinated their research effort according to the specific objectives of the project, to develop and apply the two complementary methods for quality control of agricultural commodities. In Israel: An improved firmness testing system was developed and tested with tropical fruits. The new system included an instrumented fruit-bed of three flexible piezoelectric sensors and miniature electromagnetic hammers, which served as fruit support and low-energy excitation device, respectively. Resonant frequencies were detected for determination of firmness index. Two new acoustic parameters were developed for evaluation of fruit firmness and maturity: a dumping-ratio and a centeroid of the frequency response. Experiments were performed with avocado and mango fruits. The internal damping ratio, which may indicate fruit ripeness, increased monotonically with time, while resonant frequencies and firmness indices decreased with time. Fruit samples were tested daily by destructive penetration test. A fairy high correlation was found in tropical fruits between the penetration force and the new acoustic parameters; a lower correlation was found between this parameter and the conventional firmness index. Improved table-top firmness testing units, Firmalon, with data-logging system and on-line data analysis capacity have been built. The new device was used for the full-scale experiments in the next two years, ahead of the original program and BARD timetable. Close cooperation was initiated with local industry for development of both off-line and on-line sorting and quality control of more agricultural commodities. Firmalon units were produced and operated in major packaging houses in Israel, Belgium and Washington State, on mango and avocado, apples, pears, tomatoes, melons and some other fruits, to gain field experience with the new method. The accumulated experimental data from all these activities is still analyzed, to improve firmness sorting criteria and shelf-life predicting curves for the different fruits. The test program in commercial CA storage facilities in Washington State included seven apple varieties: Fuji, Braeburn, Gala, Granny Smith, Jonagold, Red Delicious, Golden Delicious, and D'Anjou pear variety. FI master-curves could be developed for the Braeburn, Gala, Granny Smith and Jonagold apples. These fruits showed a steady ripening process during the test period. Yet, more work should be conducted to reduce scattering of the data and to determine the confidence limits of the method. Nearly constant FI in Red Delicious and the fluctuations of FI in the Fuji apples should be re-examined. Three sets of experiment were performed with Flandria tomatoes. Despite the complex structure of the tomatoes, the acoustic method could be used for firmness evaluation and to follow the ripening evolution with time. Close agreement was achieved between the auction expert evaluation and that of the nondestructive acoustic test, where firmness index of 4.0 and more indicated grade-A tomatoes. More work is performed to refine the sorting algorithm and to develop a general ripening scale for automatic grading of tomatoes for the fresh fruit market. Galia melons were tested in Israel, in simulated export conditions. It was concluded that the Firmalon is capable of detecting the ripening of melons nondestructively, and sorted out the defective fruits from the export shipment. The cooperation with local industry resulted in development of automatic on-line prototype of the acoustic sensor, that may be incorporated with the export quality control system for melons. More interesting is the development of the remote firmness sensing method for sealed CA cool-rooms, where most of the full-year fruit yield in stored for off-season consumption. Hundreds of ripening monitor systems have been installed in major fruit storage facilities, and being evaluated now by the consumers. If successful, the new method may cause a major change in long-term fruit storage technology. More uses of the acoustic test method have been considered, for monitoring fruit maturity and harvest time, testing fruit samples or each individual fruit when entering the storage facilities, packaging house and auction, and in the supermarket. This approach may result in a full line of equipment for nondestructive quality control of fruits and vegetables, from the orchard or the greenhouse, through the entire sorting, grading and storage process, up to the consumer table. The developed technology offers a tool to determine the maturity of the fruits nondestructively by monitoring their acoustic response to mechanical impulse on the tree. A special device was built and preliminary tested in mango fruit. More development is needed to develop a portable, hand operated sensing method for this purpose. In North Carolina: Analysis method based on an Auto-Regressive (AR) model was developed for detecting the first resonance of fruit from their response to mechanical impulse. The algorithm included a routine that detects the first resonant frequency from as many sensors as possible. Experiments on Red Delicious apples were performed and their firmness was determined. The AR method allowed the detection of the first resonance. The method could be fast enough to be utilized in a real time sorting machine. Yet, further study is needed to look for improvement of the search algorithm of the methods. An impact contact-pressure measurement system and Neural Network (NN) identification method were developed to investigate the relationships between surface pressure distributions on selected fruits and their respective internal textural qualities. A piezoelectric dot-matrix pressure transducer was developed for the purpose of acquiring time-sampled pressure profiles during impact. The acquired data was transferred into a personal computer and accurate visualization of animated data were presented. Preliminary test with 10 apples has been performed. Measurement were made by the contact-pressure transducer in two different positions. Complementary measurements were made on the same apples by using the Firmalon and Magness Taylor (MT) testers. Three-layer neural network was designed. 2/3 of the contact-pressure data were used as training input data and corresponding MT data as training target data. The remaining data were used as NN checking data. Six samples randomly chosen from the ten measured samples and their corresponding Firmalon values were used as the NN training and target data, respectively. The remaining four samples' data were input to the NN. The NN results consistent with the Firmness Tester values. So, if more training data would be obtained, the output should be more accurate. In addition, the Firmness Tester values do not consistent with MT firmness tester values. The NN method developed in this study appears to be a useful tool to emulate the MT Firmness test results without destroying the apple samples. To get more accurate estimation of MT firmness a much larger training data set is required. When the larger sensitive area of the pressure sensor being developed in this project becomes available, the entire contact 'shape' will provide additional information and the neural network results would be more accurate. It has been shown that the impact information can be utilized in the determination of internal quality factors of fruit. Until now,
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Baral, Aniruddha, Jeffrey Roesler, M. Ley, Shinhyu Kang, Loren Emerson, Zane Lloyd, Braden Boyd, and Marllon Cook. High-volume Fly Ash Concrete for Pavements Findings: Volume 1. Illinois Center for Transportation, September 2021. http://dx.doi.org/10.36501/0197-9191/21-030.
Full textAbstract:
High-volume fly ash concrete (HVFAC) has improved durability and sustainability properties at a lower cost than conventional concrete, but its early-age properties like strength gain, setting time, and air entrainment can present challenges for application to concrete pavements. This research report helps with the implementation of HVFAC for pavement applications by providing guidelines for HVFAC mix design, testing protocols, and new tools for better quality control of HVFAC properties. Calorimeter tests were performed to evaluate the effects of fly ash sources, cement–fly ash interactions, chemical admixtures, and limestone replacement on the setting times and hydration reaction of HVFAC. To better target the initial air-entraining agent dosage for HVFAC, a calibration curve between air-entraining dosage for achieving 6% air content and fly ash foam index test has been developed. Further, a digital foam index test was developed to make this test more consistent across different labs and operators. For a more rapid prediction of hardened HVFAC properties, such as compressive strength, resistivity, and diffusion coefficient, an oxide-based particle model was developed. An HVFAC field test section was also constructed to demonstrate the implementation of a noncontact ultrasonic device for determining the final set time and ideal time to initiate saw cutting. Additionally, a maturity method was successfully implemented that estimates the in-place compressive strength of HVFAC through wireless thermal sensors. An HVFAC mix design procedure using the tools developed in this project such as the calorimeter test, foam index test, and particle-based model was proposed to assist engineers in implementing HVFAC pavements.