Version Control Research Articles

Inverse kinematics solution and control method of 6-degree-of-freedom manipulator based on deep reinforcement learning

The advent of Industry 4.0 has significantly promoted the field of intelligent manufacturing, which is facilitated by the development of new technologies are emerging. Robot technology and robot intelligence methods have rapidly developed and been widely applied. Manipulators are widely used in industry, and their control is a crucial research topic. The inverse kinematics solution of manipulators is an important part of manipulator control, which calculates the joint angles required for the end effector to reach a desired position and posture. Traditional inverse kinematics solution algorithms often face the problem of insufficient generalization, and iterative methods have challenges such as large computation and long solution time. This paper proposes a reinforcement learning-based inverse kinematics solution algorithm, called the MAPPO-IK algorithm. The algorithm trains the manipulator agent using the MAPPO algorithm and calculates the difference between the end effector state of the manipulator and the target posture in real-time by designing a reward mechanism, while considering Gaussian distance and cosine distance. Through experimental comparative analysis, the feasibility, computational efficiency, and superiority of this reinforcement learning algorithm are verified. Compared with traditional inverse kinematics solution algorithms, this method has good generalization and supports real-time computation, and the obtained result is a unique solution. Reinforcement learning algorithms have better adaptability to complex environments and can handle different sudden situations in different environments. This algorithm also has the advantages of path planning, intelligent obstacle avoidance, and other advantages in dynamically processing complex environmental scenes.

Robust-augmentation nonlinear dynamic inversion control of over-actuated coaxial high-speed helicopter in transition mode

As the elevator and rudder can be used actively for control, in addition to the rotors, Coaxial High-speed Helicopters (CHHs) have the problems of control redundancy and changing control authority in the transition mode. This paper presents a robust-augmentation transitioning flight control design for a CHH under the adverse conditions of parametric uncertainties and external disturbances. First, based on control characteristic analysis, an Adaptive Filtered Nonlinear Dynamic Inversion (AFNDI) controller is proposed for the angular rate to handle the effect of unknown unstructured uncertainties and external turbulence. Theoretical analysis proves that the presented angular rate controller can guarantee steady-state and transient performance. Furthermore, the attitude angle and velocity controllers are also added. Then, an Incremental-based Nonlinear Prioritizing Control Allocation (INPCA) method is designed to take into account control surface transition and changing control authority, which efficiently distributes the required moments between coaxial rotors and aero-surfaces, and avoids the control reversal problem of the yaw channel. In the proposed control architecture, the low-pass filter is introduced to alleviate the adverse influence of time delay and measurement noise. Finally, the effectiveness of the proposed controller is demonstrated through nonlinear numerical simulations, and is compared with existing methods. Simulation results show that the proposed control law can improve both capabilities of disturbance rejection and fast response, and works satisfactorily for the CHH transitioning control characteristic.

Database Version Control: AWS and RDS Integration with Python

This paper presents an automated approach for managing database versioning and upgrades through the integration of Amazon Web Services Relational Database Service (AWS RDS) metadata into MongoDB using Python. By leveraging this integration, the system streamlines the process of version control and upgrade planning, improving efficiency and reliability compared to manual methods. Through experiments, we demonstrate the effectiveness and scalability of our approach, offering a practical solution to enhance database management workflows.

Data-driven estimation of the algebraic Riccati equation for the discrete-time inverse linear quadratic regulator problem

In this paper, we propose a method for estimating the algebraic Riccati equation (ARE) with respect to an unknown discrete-time system from the system state and input observation. The inverse optimal control (IOC) problem asks, “What objective function is optimized by a given control system?” The inverse linear quadratic regulator (ILQR) problem is an IOC problem that assumes a linear system and quadratic objective function. The ILQR problem can be solved by solving a linear matrix inequality that contains the ARE. However, the system model is required to obtain the ARE, and it is often unknown in fields in which the IOC problem occurs, for example, biological system analysis. Our method directly estimates the ARE from the observation data without identifying the system. This feature enables us to economize the observation data using prior information about the objective function. We provide a data condition that is sufficient for our method to estimate the ARE. We conducted a numerical experiment to demonstrate that our method can estimate the ARE with less data than system identification if the prior information is sufficient.

Statistically consistent inverse optimal control for discrete-time indefinite linear–quadratic systems

The Inverse Optimal Control (IOC) problem is a structured system identification problem that aims to identify the underlying objective function based on observed optimal trajectories. This provides a data-driven way to model experts’ behavior. In this paper, we consider the case of discrete-time finite-horizon linear–quadratic problems where: the quadratic cost term in the objective is not necessarily positive semi-definite; the planning horizon is a random variable; we have both process noise and observation noise; the dynamics can have a drift term; and where we can have a linear cost term in the objective. In this setting, we first formulate the necessary and sufficient conditions for when the forward optimal control problem is solvable. Next, we show that the corresponding IOC problem is identifiable. Using the conditions for existence of an optimum of the forward problem, we then formulate an estimator for the parameters in the objective function of the forward problem as the globally optimal solution to a convex optimization problem, and prove that the estimator is statistical consistent. Finally, the performance of the algorithm is demonstrated on two numerical examples.

Analysis, Simulation, and Experiments of Dynamics and Control of a Hydrostatic Wind Turbine Under Partial Load

Abstract Kω2 control, also called torque control, is a popular method for maximizing wind turbine power. For hydrostatic wind turbines, torque control becomes pressure control with pc=K'ω2 because pressure is proportional to torque. Inverse Kω2 control is an alternative approach using rotor speed control with pc=(p/K')1/2. This work analyzes the dynamics of hydrostatic wind turbines using forward and inverse Kω2 control with P-, PD-, PI-, and PID-control for feedback. Dimensionless, linearized models are used. Analysis shows that the mechanical rotor dynamics are much slower than the hydrostatic transmission dynamics and that frictional and leakage losses are negligible. Linear perturbation of the nonlinear model reveals that the closed-loop control is not in Evan's form, so that closed-loop poles and zeros both vary with the loop gain. Pole and zero root locus analysis shows how systems responses change with controller gains. Both control approaches require derivative controller action to sufficiently dampen their responses; both are also fundamentally limited in speed of response by a slow stable pole regardless of controller loop gains. Nonlinear system simulation shows that both control approaches track the maximum power point with nearly identical transient behavior and have nearly identical power losses when using suboptimal values of the control law gain, K. Pressure control has a gain margin of infinity and a phase margin of 99.3 degrees, while speed control has a gain margin of 22.4 dB and a phase margin of 73.8 degrees showing that pressure control is more robust than speed control. Experiments using the power regenerative hydrostatic test stand at the University of Minnesota show that the control approaches have different transient responses but capture comparable power under steady and turbulent conditions.

Observer-based adaptive neutral network inverse optimal containment control for nonlinear multiagent systems with input quantization

This article focuses on the issue of addressing an adaptive neural network (NN) inverse optimal containment control for nonlinear multiagent systems (MASs), which are subject to immeasurable states and quantized input signals simultaneously. To tackle this problem, we utilize a NN to model unknown agents and design a NN observer to estimate the immeasurable states. Additionally, we decompose the hysteretic quantized input into two bounded nonlinear functions. By employing the adaptive backstepping approach and inverse optimal principle, we formulate an adaptive NN inverse optimal containment control method. The developed inverse optimal containment control scheme guarantees that the controlled system is input-to-state stabilizable (ISS). Finally, we validate the effectiveness of our proposed control scheme through simulation results.

Output feedback control for hypersonic flight vehicles via distributed high-gain observer

During the hypersonic flight process of rigid hypersonic flight vehicles (HFVs), the flight-path angle and angle of attack are usually small and sensitive to flight condition variation, the accurate measurements are difficult, subsequently the formulation of states observers is an urgent issue. A distributed high-gain observer is proposed to reconstruct the admissible system state dynamics based on limited measured output. First, a distributed observer is proposed for the cascade strict-feedback system to ensure the global convergence of the state estimation errors between the estimated state in each local observer and system states, for the prescribed system initial values. Second, the distributed high-gain observer-based nonlinear control is investigated on the longitudinal dynamics of HFVs with partial measurable states. The rigid body system dynamic is divided into the altitude subsystem and the velocity subsystem. In the altitude subsystem, the proposed distributed high-gain observer is formulated to exact estimate the flight-path angle and angle of attack, and then the back-stepping design is proposed for constructing the controllers. The nonlinear dynamic inversion controller is introduced to accomplish the velocity tracking. Finally, simulation examples are served to verify that the proposed output feedback control possesses the superior properties of high tracking performance, fast convergence of state estimation error and easy-implementation.

Decentralized Implicit Inverse Control for Large-Scale Hysteretic Nonlinear Time-Delay Systems and Its Application on Triple-Axis Giant Magnetostrictive Actuators.

This article proposes fuzzy-logic systems (FLSs)-based decentralized adaptive implicit inverse control scheme for a class of large-scale nonlinear systems with time delays and multihysteretic loops. Our novel algorithms feature hysteretic implicit inverse compensators designed to effectively mitigate multihysteretic loops in large-scale systems. In this article, hysteretic implicit inverse compensators can replace the traditional hysteretic inverse models, which are exceedingly difficult to construct, and no longer necessary. The authors provide three contributions: 1) a searching mechanism to obtain the approximate value of the practical input signal from the so-called hysteretic temporary control law; 2) the arbitrarily small L∞ norm of the tracking error attained by utilizing the proposed initializing technique, which applies the combination of FLSs and a finite covering lemma to deal with time delays; and 3) the construction of a triple-axis giant magnetostrictive motion control platform, which validates the effectiveness of the proposed control scheme and algorithms.

Energy Management Strategy for a Net Zero Emission Islanded Photovoltaic Microgrid-Based Green Hydrogen System

Investing in green hydrogen systems has become a global objective to achieve the net-zero emission goal. Therefore, it is seen as the primary force behind efforts to restructure the world’s energy, lessen our reliance on gas, attain carbon neutrality, and combat climate change. This paper proposes a power management for a net zero emission PV microgrid-based decentralized green hydrogen system. The hybrid microgrid combines a fuel cell, battery, PV, electrolyzer, and compressed hydrogen storage (CHSU) unit aimed at power sharing between the total components of the islanded DC microgrid and minimizing the equivalent hydrogen consumption (EHC) by the fuel cell and the battery. In order to minimize the EHC and maintain the battery SOC, an optimization-based approach known as the Equivalent Consumption Minimization Strategy (ECMS) is used. A rule-based management is used to manage the power consumed by the electrolyzer and the CHSU by the PV system in case of excess power. The battery is controlled by an inverse droop control to regulate the dc bus voltage and the output power of the PV system is maximized by the fuzzy logic controller-based MPPT. As the hybrid microgrid works in the islanded mode, a two-level hierarchical control is applied in order to generate the voltage and the frequency references. The suggested energy management approach establishes the operating point for each system component in order to enhance the system’s efficiency. It allows the hybrid system to use less hydrogen while managing energy more efficiently.

PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

Finite-Time Attitude Control of Quadrotor Unmanned Aerial Vehicle with Disturbance and Actuator Saturation

This paper introduces a nonlinear dynamic inversion control algorithm designed to address unknown disturbances and actuator saturation issues in unmanned aerial vehicle (UAV) attitude control. The algorithm is based on a combination of finite-time disturbance observer and anti-saturation auxiliary system, which ensures the rapid convergence of attitude tracking error. Firstly, based on the Newton–Euler equations, this paper establishes a model of the attitude system for quadrotor UAVs, and this paper eliminates the small-angle flight assumption. Secondly, considering the actuator saturation problem, an anti-saturation auxiliary control system is designed to shorten the time when the control volume is in the saturation interval and achieve finite-time convergence of the attitude error. And then, to improve the robustness of the controller, this paper proposes a disturbance observer based on the finite-time stability theory, which achieves a continuous smooth output of the observation results by introducing a hyperbolic tangent function in the observer, so that the observation error can be converged to zero in a finite time. Finally, it is demonstrated by Simulink simulation that the attitude error and the observation error converge quickly to zero.

Decoupled incremental nonlinear dynamic inversion control for aircraft autonomous landing with ground-effect

Due to motion coupling and increased model dependence, the use of nonlinear controllers in real-time applications for aircraft is extremely constrained. This explains why proportional, derivative, and integral (PID) controls are frequently used in practice. However, fast changes in the commanded path and the requirement for high accuracy and tracking performance limit use of PID in landing. This paper presents a design of a decoupled incremental nonlinear dynamic inversion (INDI) controller for performing autonomous landing of a fixed-wing aircraft. The investigation is carried out using the ground effect model and is compared without it. A carrot chasing guidance algorithm is implemented for waypoint navigation to generate the command for the proposed controller's outer loop. The navigational state estimate issue has been resolved using the Cubature Kalman Filter (CKF) approach. Two decoupled CKF algorithms named complementary Cubature Kalman Filter (CCKF) and Integrated Cubature Kalman Filter (I-CKF) are proposed to estimate aircraft navigational states comprised of attitudes, navigational position in terms of latitude, longitude altitudes, and North-East-down velocities. The mathematical model for flare and approach trajectory is designed and commanded to follow the same by the proposed INDI controller. The effectiveness of INDI have been evaluated in a simulation environment by landing the aircraft in the same runway position at arbitrary wind conditions. The performance of the proposed INDI controller is juxtaposed with a conventional proportional integrator and derivative (PID) based landing controller. The simulation findings demonstrate that the INDI has a competitive edge over traditional PID approaches due to its robust performance, less dependence on model dynamics, and fast command tracking capability required during the flare phase.

The tale of HORTON: Lessons learned in a decade of scientific software development.

HORTON is a free and open-source electronic-structure package written primarily in Python 3 with some underlying C++ components. While HORTON's development has been mainly directed by the research interests of its leading contributing groups, it is designed to be easily modified, extended, and used by other developers of quantum chemistry methods or post-processing techniques. Most importantly, HORTON adheres to modern principles of software development, including modularity, readability, flexibility, comprehensive documentation, automatic testing, version control, and quality-assurance protocols. This article explains how the principles and structure of HORTON have evolved since we started developing it more than a decade ago. We review the features and functionality of the latest HORTON release (version 2.3) and discuss how HORTON is evolving to support electronic structure theory research for the next decade.

Research on the Application of Intelligent Multi-branch Version Management Strategy of Electricity Marketing Service System Software

In recent years, the Market Marketing Department of State Grid Corporation of China, in collaboration with the Internet Department, has initiated the construction of an intelligent energy internet marketing service system. This paper aims to improve the development efficiency and quality of the power marketing service system. To achieve this goal, an intelligent multi-branch version management strategy has been introduced. Firstly, the necessity of multi-branch version management is analyzed in relation to the characteristics of the power marketing service system software and the potential issues that may arise in its development and version management process. Then, based on the concept of productizing the general functions of the entire network and projecting the functions of each provincial network, a multi-branch version management strategy is designed, which includes the core components of intelligent multi-branch version management and intelligent multi-branch version protection. Finally, an application case of power marketing service system development is presented. This solution not only standardizes the version management process, improves software development efficiency, ensures the order and control of versions, but also demonstrates the enormous potential of intelligent technology in enhancing system development and management efficiency.

Riboseq-flow: A streamlined, reliable pipeline for ribosome profiling data analysis and quality control

Ribosome profiling is a powerful technique to study translation at a transcriptome-wide level. However, ensuring good data quality is paramount for accurate interpretation, as is ensuring that the analyses are reproducible. We introduce a new Nextflow DSL2 pipeline, riboseq-flow, designed for processing and comprehensive quality control of ribosome profiling experiments. Riboseq-flow is user-friendly, versatile and upholds high standards in reproducibility, scalability, portability, version control and continuous integration. It enables users to efficiently analyse multiple samples in parallel and helps them evaluate the quality and utility of their data based on the detailed metrics and visualisations that are automatically generated. Riboseq-flow is available at https://github.com/iraiosub/riboseq-flow.

Creating a next-generation phenotype library: the health data research UK Phenotype Library.

To enable reproducible research at scale by creating a platform that enables health data users to find, access, curate, and re-use electronic health record phenotyping algorithms. We undertook a structured approach to identifying requirements for a phenotype algorithm platform by engaging with key stakeholders. User experience analysis was used to inform the design, which we implemented as a web application featuring a novel metadata standard for defining phenotyping algorithms, access via Application Programming Interface (API), support for computable data flows, and version control. The application has creation and editing functionality, enabling researchers to submit phenotypes directly. We created and launched the Phenotype Library in October 2021. The platform currently hosts 1049 phenotype definitions defined against 40 health data sources and >200K terms across 16 medical ontologies. We present several case studies demonstrating its utility for supporting and enabling research: the library hosts curated phenotype collections for the BREATHE respiratory health research hub and the Adolescent Mental Health Data Platform, and it is supporting the development of an informatics tool to generate clinical evidence for clinical guideline development groups. This platform makes an impact by being open to all health data users and accepting all appropriate content, as well as implementing key features that have not been widely available, including managing structured metadata, access via an API, and support for computable phenotypes. We have created the first openly available, programmatically accessible resource enabling the global health research community to store and manage phenotyping algorithms. Removing barriers to describing, sharing, and computing phenotypes will help unleash the potential benefit of health data for patients and the public.

Event‐triggered adaptive estimated inverse neural network control of uncertain nonlinear systems with unknown hysteresis effects

AbstractThis article investigates an event‐triggered adaptive estimated inverse control scheme for uncertain nonlinear systems with hysteresis effects, parametric uncertainties, and unknown disturbances. An online estimated inverse hysteresis compensation mechanism is developed, in which an adaptive technique is designed to obtain the value of unknown hysteresis parameters. Compared with common approaches, its biggest advantage lies in the fact that it eliminates the need for experimental determination of hysteresis parameters, thereby reducing time‐consuming offline identification work and enhance the compatibility of the proposed method. Additionally, an adaptive radial basis functions neural network is applied to approximate the unknown disturbances, and its weight coefficients, along with unknown system parameters, are estimated by means of the adaptive method. Furthermore, the introduction of relative threshold event‐triggered control significantly reduces communication costs resulting from the hysteresis compensation. Through Lyapunov analysis, the proposed controller guarantees all signals are bounded and the errors are convergent. Numerical simulation results demonstrate the superiority of the developed controller.

Rotary inverted pendulum control using neuro-adaptive robust generalized dynamic inversion

The objective of this research is to design a robust control system for trajectory tracking of the under-actuated Rotary Inverted Pendulum (RIP). The focus is on achieving semi-global asymptotic stability in the absence of knowledge about the RIP geometric and inertia parameters. The control design commences by formulating differential servo constraint dynamics (VCD) that encapsulates the control objectives for the RIP. The baseline generalized dynamic inversion (GDI) control law is derived by inverting the VCD for the control voltage input using the Moore–Penrose generalized inverse. To enhance robustness against modeling uncertainties and exogenous disturbances, a sliding mode control (SMC) element is integrated within the GDI control system, resulting in the robust GDI (RGDI) control system. Furthermore, an adaptive estimator that is based on Radial Basis Function Neural Networks (RBF-NN) is adopted to eliminate the dependency of the RGDI control system on the RIP mathematical model. The weighting matrices of the RBF-NN are updated with the aid of a Lyapunov control function. The proposed control system offers robust solution and guarantees semi-global asymptotic stability to the unstable equilibria of the RIP dynamics in the absence of a mathematical model. The proposed control system’s performance is evaluated through computer simulations and experimental tests on a real RIP system. Comparative analyses with traditional SMC and linear quadratic control methodologies are conducted to show the effectiveness of the proposed approach.

DEVOPS OPTIMIZED NAVIGATION: BUILDING A DEVOPS CI/CD PIPELINE

DevOps Optimized Navigation: Building a DevOps CI/CD pipeline aims to implement devops practices via building campus navigation for our college. The application displays different blocks of our college where the user can navigate. This system will be useful especially for new comers and people those who are unfamiliar with the campus layout. People equipped with any mobile phone can easily scan the QR Code to open the website and select the destination for navigation. The optimal path is visible via google maps. For DevOps, we have used Amazon Web Services(AWS) .GitHub is used as version control platform. A tool called Jenkins is used for continuous integration and continuous deployment which is a open source tool. Our Project is a flask application which is deployed using Docker container. Our project provides a solution that not only simplifies the navigation but also ensures responsiveness to different screen sizes and global accessibility to provide user friendly experience. KEYWORDS – DevOps, GitHub, AWS Cloud, Jenkins, Docker, Flask, Navigation