Control Architecture Research Articles

A modified feedforward-feedback time-frequency domain hybrid algorithm for multichannel active road noise control system

Multi-channel Active Road Noise Control (ARNC) systems require numerous adaptive filters to reduce noise at multiple positions inside the vehicle. However, road noise conditions are more complex, and the correlation between the reference signals and the target noise is often poor. When the driving conditions become slightly complex, the correlation between the reference signal and the target noise is often poor. As a result, traditional road noise control algorithms applied to multi-channel ARNC systems often suffer from high computational cost and poor noise reduction performance in non-steady-state and high-speed driving conditions. To address this issue,a reference signal selection method based on the genetic algorithm (GA) is proposed to obtain a reference signals combination with stronger coherence. On this basis, we introduce the time–frequency domain structure into the forward-feedback hybrid algorithm and a multi-channel time–frequency domain hybrid algorithm with a novel variable step size method (VSS-TF-HANC) is proposed in this paper.The feedforward part adopts a time–frequency domain structure and introduces a novel variable step-size strategy to reduce computational complexity and improve noise reduction performance. The feedback part adopts a control system based on the Internal Model Control (IMC) architecture to attenuate the interior noise components that have a strong response but poor correlation with the reference signals. Simulation results demonstrate that the proposed algorithm achieves excellent control results under complex driving conditions, with significantly better noise reduction performance compared to the control algorithms that solely employ the feedforward structure, while also exhibiting low computational cost.

An operating mode control method for photovoltaic (PV) battery hybrid systems

Depending on the PV power, load power, and battery status, the system may operate in different modes. The control loop may have to switch between operating modes. In practice, it is difficult to implement control loop switching because the transition and dynamic process are difficult to control. As a result, this paper presents a generalized mode control method that avoids loop switching across modes. First, system structure and topology are introduced. The operating conditions for both grid-connected and off-grid modes are then divided into six sub-cases. Furthermore, the control architecture, control loop, and reference transition for various scenarios are described. Finally, an experimental platform is built, and the results are presented to verify the proposed method.

Developing a custom communication protocol for UAVs: Ground control station and architecture design

Robots have become a prominent research topic across various application domains in recent decades. Additionally, unmanned aerial vehicles (UAVs) are extensively used in both the military and commercial sectors, substantially reducing transaction costs and enhancing safety. Researchers have addressed secure control and communication protocols between software, firmware, and hardware components. This study focuses on the design of three critical elements: the hardware architecture, the software ground control station (GCS), and the firmware tasks within the UAV embedded system. These components are interconnected via an enhanced MAVLink protocol (EMP). Furthermore, various sensors are integrated into the UAV's peripheral devices. We discuss flight control (FC) approaches, such as proportional-integral-derivative (PID) control and the Kalman filter (KF), detailing the process of the hovering algorithm. Additionally, we explain how access is messaged and how message commands are implemented at the protocol layer. We propose a large-scale UAV system architecture suitable for commercial and military applications, supported by a real-life scenario. Experimental results demonstrate the effectiveness and efficiency of the UAV in outdoor activities. Our findings confirm that the proposed UAV architecture is a robust and efficient system in practical applications.

Energy-Oriented Hybrid Cooperative Adaptive Cruise Control for Fuel Cell Electric Vehicle Platoons.

Given the complex powertrain of fuel cell electric vehicles (FCEVs) and diversified vehicle platooning synergy constraints, a control strategy that simultaneously considers inter-vehicle synergy control and energy economy is one of the key technologies to improve transportation efficiency and release the energy-saving potential of platooning vehicles. In this paper, an energy-oriented hybrid cooperative adaptive cruise control (eHCACC) strategy is proposed for an FCEV platoon, aiming to enhance energy-saving potential while ensuring stable car-following performance. The eHCACC employs a hybrid cooperative control architecture, consisting of a top-level centralized controller (TCC) and bottom-level distributed controllers (BDCs). The TCC integrates an eco-driving CACC (eCACC) strategy based on the minimum principle and random forest, which generates optimal reference velocity datasets by aligning the comprehensive control objectives of the platoon and addressing the car-following performance and economic efficiency of the platoon. Concurrently, to further unleash energy-saving potential, the BDCs utilize the equivalent consumption minimization strategy (ECMS) to determine optimal powertrain control inputs by combining the reference datasets with detailed optimization information and system states of the powertrain components. A series of simulation evaluations highlight the improved car-following stability and energy efficiency of the FCEV platoon.

Coordination in islanded microgrids: Integration of distributed generation, energy storage system, and load shedding using a new decentralized control architecture

For an islanded microgrid (MG) to work reliably, it is essential to manage the control of distributed energy resources, including generation and storage units, as well as loads, in a coordinated manner. In islanded microgrids, the safe energy storage limits must be accounted for coordination to avoid rapid damage or degradation to the storage units. In this paper, a novel control method is introduced to coordinate distributed generation (DG) and energy storage systems (ESS) in an islanded MG to enhance penetration and complete exploitation of DGs and ESSs and maintain balanced state of charge (SoC). A decentralized modified droop function (MDF) is suggested to share power and to control voltage and frequency without communication link. This controller uses virtual impedance to separate active and reactive power in the primary level control loop. Moreover, based on the ESS's charge state and its control as a frequency control support system, the proposed controller enables DGs to operate in both voltage and frequency control mode (VFCM) and active power control mode (APCM) to avoid overcharging. Likewise, to prevent from over discharging and maintain the frequency within permissible range, a new load shedding strategy is implemented to minimize the cycles of load connection and disconnection. The validation and effectiveness of the proposed control system are demonstrated by simulation results.

A Champernowne Adaptive Filter-Based Control of Grid Interactive Solar PV with Power Quality Enrichment

This work presents a variable step Champernowne Adaptive Filter (VS-CAF) based control architecture for a grid-integrated solar photovoltaic system. The control structure is implemented to successfully synchronize the two-stage solar photovoltaic at the point of common coupling where the source and domestic loads are connected. The control architecture ensures solar power injection and improvised power quality at the unity power factor. Moreover, the control structure provides only the balanced positive sequence fundamental sinusoidal source currents at solar irradiation alteration and load disturbances. The VS-CAF is exploited to estimate the peak of the fundamental component out of the harmonics-rich domestic load currents. To examine the efficacy of the suggested control technique, a 40 kW solar photovoltaic is simulated using MATLAB/Simulink. The performance assessment of the grid-tied solar generation system is carried out at solar irradiation alteration, zero solar irradiation, and detachment of one phase of the three-phase load. Various simulation results are carried out to verify the successful integration of solar photovoltaics into the three-phase grid following the IEEE-519 standard and satisfactory performance during various working conditions. Moreover, the simulation results are also verified with real-time results taken from the Opal-RT simulator.

Trusted access control mechanism for data with blockchain-assisted attribute encryption

In the growing demand for data sharing, how to realize fine-grained trusted access control of shared data and protect data security has become a difficult problem. Ciphertext policy attribute-based encryption (CP-ABE) model is widely used in cloud data sharing scenarios, but there are problems such as privacy leakage of access policy, irrevocability of user or attribute, key escrow, and trust bottleneck. Therefore, we propose a blockchain-assisted CP-ABE (B-CP-ABE) mechanism for trusted data access control. Firstly, we construct a data trusted access control architecture based on the B-CP-ABE, which realizes the automated execution of access policies through smart contracts and guarantees the trusted access process through blockchain. Then, we define the B-CP-ABE scheme, which has the functions of policy partial hidden, attribute revocation, and anti-key escrow. The B-CP-ABE scheme utilizes Bloom filter to hide the mapping relationship of sensitive attributes in the access structure, realizes flexible revocation and recovery of users and attributes by re-encryption algorithm, and solves the key escrow problem by joint authorization of data owners and attribute authority. Finally, we demonstrate the usability of the B-CP-ABE scheme by performing security analysis and performance analysis.

A microservice based control architecture for mobile robots in safety-critical applications

Mobile robots have become more and more common in public space. This increases the importance of meeting safety requirements of autonomous robots. Simple mechanisms, such as emergency braking, alone do not suffice in these highly dynamic situations. Moreover, actual robotic control approaches in literature and practice do not take safety particularly into account. A more sophisticated situational approach for assessment and planning is needed as part of the high-level process control. This paper presents the concept of a safety-critical Robot Control Architecture for mobile robots based on microservices and a Hierarchical Finite State Machine. It expands already existing architectures by drastically reducing the amount of centralized logic and thus increasing the overall system’s level of concurrency, interruptibility and fail-safety. Furthermore, it introduces new potential for code reuse that allows for straightforward implementation of safety mechanisms such as internal diagnostics systems. In doing so, this concept presents the template of a new type of state machine implementation. It is demonstrated with the application of a delivery robot, which was implemented and operated in real public during a broader research project.

A Novel Equivalent Combined Control Architecture for Electro-Optical Equipment: Performance and Robustness

A Novel Equivalent Combined Control Architecture for Electro-Optical Equipment: Performance and Robustness

Towards robotic laboratory automation plug & play: Reference architecture model for robot integration

Supportive robotic solutions take over mundane, but essential tasks from human workforce in biomedical research and development laboratories. The newest technologies in collaborative and mobile robotics enable the utilization in the human-centered and low-structured environment. Their adaptability, however, is hindered by the additional complexity that they introduce. In our paper we aim to entangle the convoluted laboratory robot integration architectures. We begin by hierarchically decomposing the laboratory workflows, and mapping the activity representations to layers and components of the automation control architecture. We elaborate the framework in detail on the example of pick-and-place labware transportation - a crucial supportive step, which we identified as the number one area of interest among experts of the field. Our concept proposal serves as a reference architecture model, the key principles of which were used in reference implementations, and are in line with international standardization efforts.

Dynamic control analysis of energy-efficient side-stream extractive distillation process for separating close-boiling mixture

To separate the close-boiling mixture comprising heptane and toluene, this study introduces an environmentally-friendly method of side-stream extractive distillation by utilizing aniline as the separating agent. This approach modifies traditional extractive distillation by adding a side rectifier, converting two-way vapor and liquid communication into one-way liquid transfer using an additional distillation section along with corresponding reboiler. Our present study investigates the dynamic control behavior for a strongly non-ideal system without and with heat integration. It focuses on achieving stable and reliable regulatory control by closely keeping the dual-product composition to their original design standards. Key control loops are pinpointed, with a specific emphasis on those centered around adjusting reboiler heat duty and side-stream flow rate within extractive column C1 to regulate the temperatures of Stages 48 and 36. Furthermore, control effectiveness is enhanced by introducing a feedforward action of reboiler heat duty-to-feed flowrate. By developing a new and robust control architecture, high feed flowrate and composition disturbances can be managed efficiently, solving the issues of oscillation and large transient response.

Evolving Software Architecture Design in Telemedicine: A PRISMA-based Systematic Review.

This article presents a systematic review of recent advancements in telemedicine architectures for continuous monitoring, providing a comprehensive overview of the evolving software engineering practices underpinning these systems. The review aims to illuminate the critical role of telemedicine in delivering healthcare services, especially during global health crises, and to emphasize the importance of effectiveness, security, interoperability, and scalability in these systems. A systematic review methodology was employed, adhering to the Preferred Reporting Items for Systematic Reviews and Meta-Analyses framework. As the primary research method, the PubMed, IEEE Xplore, and Scopus databases were searched to identify articles relevant to telemedicine architectures for continuous monitoring. Seventeen articles were selected for analysis, and a methodical approach was employed to investigate and synthesize the findings. The review identified a notable trend towards the integration of emerging technologies into telemedicine architectures. Key areas of focus include interoperability, security, and scalability. Innovations such as cognitive radio technology, behavior-based control architectures, Health Level Seven International (HL7) Fast Healthcare Interoperability Resources (FHIR) standards, cloud computing, decentralized systems, and blockchain technology are addressing challenges in remote healthcare delivery and continuous monitoring. This review highlights major advancements in telemedicine architectures, emphasizing the integration of advanced technologies to improve interoperability, security, and scalability. The findings underscore the successful application of cognitive radio technology, behavior-based control, HL7 FHIR standards, cloud computing, decentralized systems, and blockchain in advancing remote healthcare delivery.

A Piecewise Particle Swarm Optimisation Modelling Method for Pneumatic Artificial Muscle Actuators

Pneumatic artificial muscles (PAMs) possess compliant properties desirable for certain applications such as prosthetics and robotic structures. However, this compliance along with their inherent nonlinear dynamics make them difficult to accurately model and as such accurately control under certain control architectures. Common approaches to this problem include measuring the actuator’s physical properties and approximating a model based on these parameters or using deep learning methods to train a model with the actuator’s behaviours. This paper introduces an optimisation-based modelling approach based on a particle swarm optimisation (PSO) algorithm using a mass–spring–damper approximation for the PAM, as well as a piecewise modelling method that accounts for nonlinear dynamics. The use of optimisation to estimate model parameters removes the need to measure physical properties, and the three-element approximation allows for fast model generation with low computational complexity and training data requirements. Through multiple tests comparing model behaviour with real PAM motion, the accuracy of these models is confirmed to be promising for future work. Dynamic nonlinearities are properly accounted for using the piecewise modelling method, including both hysteresis and disproportionate input/output relationship across the stroke length of the actuator. Compared with other PAM modelling techniques, this method has improved generation time, lower computational load requirements, and complexity and can be applied to actuators for which the phenomenological mass–spring–damper model is a good approximation.

Fabrication and control architecture of novel hybrid metal additive manufacturing incremental forming technology

Hybrid manufacturing processes redefine production dynamics by harnessing the synergistic interplay between process mechanisms, energy sources, and tools to impact manufacturing quality, productivity, and sustainability significantly. Accordingly, this article focuses on hybrid additive manufacturing incremental forming, where additive manufacturing and incremental forming are integrated in a unified setup, driven by a single power source. This integration opens avenues for innovative component and production design, capitalizing on the strengths of both methods while mitigating drawbacks. The fabrication of the hybrid additive manufacturing incremental forming setup involves crucial components like a hybrid extrusion forming unit, supporting plates, hopper-barrel assembly, band heaters, solenoid setup, and a comprehensive control architecture. Addressing challenges, particularly overheating in the hopper, and feeding zone, ensures effective material transformation with the hybrid extrusion forming unit. The subsequent section provides analytical analysis and validation of the hybrid extrusion unit. This technology enhances the entire process and addresses issues related to metal additive manufacturing, such as porosity and material shrinkage. The maximum tensile force sustained in hybrid additive manufacturing incremental forming before fracture demonstrates a notable enhancement of about 20% from 670 N in additive manufacturing to 805 N in hybrid additive manufacturing incremental forming. It also removes micro-cracks, and voids, and improves the inter-layer bonding, as observed through scanning electron microscopy. The results highlight hybrid additive manufacturing incremental forming's superior enhancement of mechanical properties and surface quality compared to traditional additive manufacturing approaches.

Human-robot interactions in autonomous hospital transports

The integration of robotics in nursing is a significant shift in healthcare, driven by the aging global population and the increasing demand for care. Robots in nursing can handle less technical tasks such as patient transport and rehabilitation activities. This support allows caregivers to focus on less strenuous nursing duties and more direct patient care. Human-Robot Interaction (HRI) plays an important role in this challenging context. In this research, we present an autonomous hospital transport system based on the ROS 2 framework, focusing on enhancing HRI in the healthcare environment. It encompasses the development of a control architecture for autonomous robot behavior, the implementation of machine learning for emergency detection, and the creation of a user-friendly interface for both patients and staff. The proposed concepts were validated in real-world scenarios in three different hospitals in Germany. This not only demonstrates the practical application of this system but also shares insights and methods, encouraging further advancement in the field of healthcare robotics.

3D criteria to improve real-time pressure control in water distribution network system architecture

ABSTRACT Real-time control (RTC) methods have been developed for over one decade to regulate service pressure and reduce leakage using pressure control valves in water distribution networks (WDN). The present study investigates control node selection frameworks and RTC system architecture for the field-oriented control of a rural WDN. The unique topology of the case-study area, the small size of the area, and high-pressure variety increased the considerations of the RTC system. A computer code was developed based on the method of characteristics for the hydraulic simulation of the network. The code could analyze unsteady flows through sloped pipes, implement pressure-based analysis, and regulate control valves based on the target node. Leakage reduction, pressure fluctuation reduction, and cavitation prevention were used as three criteria and constraints in the selection of control nodes. It was found that the optimal strategy would reduce the real water loss from 25 to 10%. Furthermore, key parameters in remote sensing were evaluated to minimize the number of sensors in order to further simplify the control algorithm and RTC system architecture through an artificial neural network (ANN) approach. The control function with a convergence rate of 99% was introduced.

Multi-objective optimization with Q-learning for cruise and power allocation control parameters of connected fuel cell hybrid vehicles

Fuel cell hybrid vehicles (FCHVs) are significant for achieving zero carbon emissions. Connected FCHVs can leverage traffic information to collaboratively optimize cruise and power allocation control, enhancing various performance aspects. For urban driving scenarios, this paper introduces a multi-strategy series control architecture for longitudinal cruise and power allocation control in connected FCHVs. However, particle swarm optimization (PSO) algorithms face challenges in high-dimensional decision and objective spaces when optimizing multiple strategies. Additionally, manually preset PSO parameters hinder particle evolution from dynamically adapting to unknown multi-objective spaces, thereby limiting the development of multiple performance metrics. To address this issue, this paper proposes a Q-learning multi-objective PSO (QMOPSO) algorithm. This algorithm tackles high-dimensional optimization challenges by improving population initialization distribution and subpopulation division, and enables particles to dynamically adjust exploration strategies, thereby maximizing multiple objective performances. The results indicate that compared to a control scheme optimized with PSO under predefined driving conditions, the multi-strategy series control framework optimized with the QMOPSO algorithm improves tracking stability by 50.20%, driving comfort by 1.77%, fuel economy by 6.10%, and reduces power source degradation by 2.04% in urban driving scenarios. Compared to PSO and multi-objective PSO algorithms, the QMOPSO algorithm demonstrates superior trade-offs. This research provides a collaborative optimization solution for FCHVs in connected environments.

Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics.

In this paper, a practical discrete-time control method with adaptive image feature prediction for the image-based visual servoing (IBVS) scheme is presented. In the discrete-time IBVS inner-loop/outer-loop control architecture, the time delay caused by image capture and computation is noticed. Considering the dynamic characteristics of a 6-DOF manipulator velocity input system, we propose a linear dynamic model to describe the motion of a robot end effector. Furthermore, for better estimation of image features and smoothing of the robot's velocity input, we propose an adaptive image feature prediction method that employs past image feature data and real robot velocity data to adopt the prediction parameters. The experimental results on a 6-DOF robotic arm demonstrate that the proposed method can ensure system stability and accelerate system convergence.

Internal and external disturbances aware motion planning and control for quadrotors

AbstractResilient motion planning and control, without prior knowledge of disturbances, are crucial to ensure the safe and robust flight of quadrotors. The development of a motion planning and control architecture for quadrotors, considering both internal and external disturbances (i.e., motor damages and suspended payloads), is addressed. Firstly, the authors introduce the use of exponential functions to formulate trajectory planning. This choice is driven by its ability to predict thrust responses with minimal computational overhead. Additionally, a reachability analysis is incorporated for error dynamics resulting from multiple disturbances. This analysis sits at the interface between the planner and controller, contributing to the generation of more robust and safe spatial–temporal trajectories. Lastly, the authors employ a cascade controller, with the assistance of internal and external loop observers, to further enhance resilience and compensate the disturbances. The authors’ benchmark experiments demonstrate the effectiveness of the proposed strategy in enhancing flight safety, particularly when confronted with motor damages and payload disturbances.

Preliminary architecture design for human-in-the-loop control of robotic equipment in remote handling tasks: Case study on the NEFERTARI project

In this work, we present a general control architecture for robotic systems dedicated to the remote handling of in-vessel components in fusion machines. This control architecture will be tested for the inspection and maintenance of the first wall components of the RFX-mod2 experiment, in the scope of the New Equipment For the Experimental Research and Technological Advancement for the Rfx Infrastructure (NEFERTARI) project. The architecture is split into low-level and high-level layers. The former is used for the low-level control of the robotics systems and to manage safety; the latter is used for the high-level planning and implements several sub-modules, such as a Virtual Reality (VR) environment for the visualisation of the robot’s digital twin. Moreover, an Application Programming Interface (API) is intended to connect the two layers, and the communication between modules and layers is provided by the ROS2 framework. A typical usage of such a framework involves a human operator who is teleoperating the real robot, data from motor encoders are used as inputs for the dynamic model module. This module is used to compute the forward dynamics in real-time, providing an accurate simulation of the robot (digital twin) in the virtual environment.