Abstract: The present disclosure discloses a system and a method for controlling a permanent magnet synchronous motor to optimally track a reference torque. The method comprises reformulating a model of the permanent magnet synchronous motor based on one or more unknown parameters of the model, and the reference torque, determining an initial feedback control policy and an initial feedforward control policy, based on priori knowledge of parameters of the reformulated model of the permanent magnet synchronous motor, and executing iteratively a gain tuning algorithm, until a termination condition is met, to determine an optimal feedback gain and an optimal feedforward gain. The method further comprises determining a control command based on the optimal feedback gain and the optimal feedforward gain, and controlling the permanent magnet synchronous motor based on the determined control command to optimally track the reference torque.

Abstract: A system for controlling an operation of an air-conditioning system including a heat exchanger is provided. The system comprises a processor that executes a neural network trained to simulate an operation of the heat exchanger for a test control input, to produce an output of the simulation based on historical data defining a state of the heat exchanger. The historical data includes a sequence of historical control inputs provided to the heat exchanger and a sequence of historical outputs of the operation of the heat exchanger corresponding to the sequence of historical control inputs. The processor determines a control command to the air-conditioning system based on the predicted test output of the simulation of the operation of the heat exchanger for the test control input and transmits the determined control command to an actuator of the air-conditioning system.

Abstract: A system for controlling an operation of an air-conditioning system including a heat exchanger is provided. The system comprises a processor that executes a neural network trained to simulate an operation of the heat exchanger for a test control input, to produce an output of the simulation based on historical data defining a state of the heat exchanger. The historical data includes a sequence of historical control inputs provided to the heat exchanger and a sequence of historical outputs of the operation of the heat exchanger corresponding to the sequence of historical control inputs. The processor determines a control command to the air-conditioning system based on the predicted test output of the simulation of the operation of the heat exchanger for the test control input and transmits the determined control command to an actuator of the air-conditioning system.

Abstract: A control system for controlling movement of a vehicle, is disclosed. The control system is configured to construct a graph having multiple nodes defining states of the vehicle. The multiple nodes comprise an initial node defining initial state and a target node defining target state. Each pair of nodes is connected by an edge defined by collision-free motion primitives where the nodes comprise motion cusps. Multiple nodes connected through edges form a first path. A first number of motion cusps in the first path is determined and the graph is expanded to add new nodes until a termination condition is met on determining that the first number of motion cusps is above a threshold. The expansion of the graph is subjected to a constraint associated with a total number of motion cusps. Further a second path is determined having lesser motion cusps than the first path.

Abstract: The present disclosure provides a system and a method for controlling a motion of a robot from a starting point to a target point within a bounded space with a floorplan including one or multiple obstacles. The method includes solving for an electric potential in a bounded virtual space formed by scaling the floorplan of the bounded space with the one or multiple obstacles and applying charge to at least one bound of the bounded virtual space while treating the scaled obstacles as metallic surfaces with a constant potential value, wherein the electric potential provides multiple equipotential curves within the bounded virtual space. The method further includes selecting an equipotential curve with a potential value different from a potential value of an obstacle equipotential curve, determining a motion path based on the selected equipotential curve, and controlling the motion of the robot based on the determined motion path.

Abstract: A system for controlling a motion of a trailer-based vehicle from an initial state till a target state, wherein each state includes a location and a heading of the trailer-based vehicle. The trailer-based vehicle includes a tractor and at least one trailer attached to the tractor such that the motion of the tractor controls the motion of the trailer. The system is configured to collect a set of motion primitives parameterized on quantized pseudo-trailer-configuration from a finite set of quantized pseudo-trailer-configurations, and repetitively select a node based on corresponding cost, and apply motion primitives at the selected node based on corresponding pseudo-trailer-configuration to add new nodes having pseudo-trailer-configurations belonging to set of all possible values. The system is configured to connect a sequence of multiple motion primitives into motion path connecting initial state with target state and control the motion of the tractor-trailer according to the motion path.

Abstract: Provided herein is a method for controlling a manipulator, comprising accepting an initial pose of a load and a task for moving the load and retrieving using a mapping function, an identification trajectory corresponding to the initial pose of the load and controlling a plurality of actuators of the manipulator to move the load according to the retrieved identification trajectory and obtaining measured motion data and estimated motion data of the load each corresponding to motion of the load. The method further comprises estimating parameters of the load based on the measured motion data and the estimated motion data, obtaining a model of the manipulator having the load with the estimated parameters, and determining a performance trajectory to move the load according to the task based on the obtained model of the manipulator. The method further comprises controlling the actuators to move the load according to the performance trajectory.

Abstract: A control system for parking a vehicle uses a directed graph representing a traffic network within parking space to determine a coarse path subsequently refined to control the vehicle according to refined path. The directed graph includes waypoints connected by edges, a waypoint defines a position and an orientation, while edge defines a collision free path for the vehicle. The coarse path is selected as a shortest route of waypoints connecting an initial waypoint on the directed graph closest to the initial state of the vehicle with a target waypoint on the directed graph closest to the target state of the vehicle. The refined path is a path on a tree constructed to reduce a deviation of a cost of a motion defined by a refined path connecting the initial node with the target node of the tree from a cost of the coarse path defining the route of waypoints.

Abstract: The present disclosure provides a system and a method for parking an autonomous ego-vehicle in a dynamic environment of a parking area. The method includes collecting measurements of a state of the dynamic environment, a state of one or multiple stationary vehicles and one or multiple obstacle vehicles moving in the parking area. The method further includes executing a path planner configured to produce a trajectory based on the state of the dynamic environment and executing an environment predictor configured to predict a path and a mode of motion for each of the obstacle vehicles. The method further includes determining a safety constraint for each of the obstacle vehicles based on the path and the mode of motion for each of the obstacle vehicles and parking the autonomous ego-vehicle based on the trajectory for parking and the safety constraint for each of the obstacle vehicles.

Abstract: The invention relates to the field of tourism risk prediction, and particularly to a high land tourism safety risk warning method based on reinforcement learning, comprising: step S1, storing a tourism data set in a historical time period of a tourist site in a database, and based on the database, initializing a tourism risk warning indication function Q and a risk target function T; step S2, based on a tourism risk assessment factor sequence and combined with the selected tourism data set in the historical time period, training the tourism risk warning indication function Q and the risk target function T; and step 3, combined with an input time parameter and the trained tourism risk warning indication function Q, obtaining a warning action under the time parameter, and obtaining a risk assessment rank of the tourist site.

Abstract: The invention relates to the field of tourism risk prediction, and particularly to a high land tourism safety risk warning method based on reinforcement learning, comprising: step S1, storing a tourism data set in a historical time period of a tourist site in a database, and based on the database, initializing a tourism risk warning indication function Q and a risk target function T; step S2, based on a tourism risk assessment factor sequence and combined with the selected tourism data set in the historical time period, training the tourism risk warning indication function Q and the risk target function T; and step 3, combined with an input time parameter and the trained tourism risk warning indication function Q, obtaining a warning action under the time parameter, and obtaining a risk assessment rank of the tourist site.

Abstract: A motor comprising a shaft, an array of stator assemblies rigidly attached to the shaft, each stator assembly includes a stator yoke having a toroid shape fixed around the shaft and having a number of slots at radial and axis directional faces with windings within the slots of the stator yoke, and a rotor assembly rotatively attached to the shaft to enclose the array of stator assemblies, the rotor assembly has a rotor drum with sections, each section embraces one stator assembly, each section has two axial-flux permanent magnet arrays attached on axial-directional inner surfaces of the section and has one radial-flux permanent magnet array attached on a radial-directional inner surface of the section furthest from the shaft, wherein the axial-flux and the radial-flux permanent magnet arrays with the number of pole pairs equals the number of the stator slots plus or minus the number of stator winding pole pair.

Abstract: A computing system for generating optimal tracking control (TC) policies for controlling a machine to track a given time-varying reference (GTVR) trajectory. An updated augmented state of the machine is obtained. Stored in memory is the GTVR trajectory, a constraint-admissible invariant set (CAIS) of machine states satisfying machine state constraints and a corresponding TC policy mapping a machine state within the CAIS to a control input satisfying control input rate constraints. A processor jointly controls the computing system to control the operation to drive an augmented state of the machine to zero, and update the CAIS and TC policy. Joint control includes using a sequence of control inputs and a sequence of augmented machine states within CAIS corresponding to the sequence of tracking control inputs. Execute a constrained tracking approximate dynamic programming (TADP) using the received data to update the value function, update the CAIS and the corresponding TC policy.

Abstract: A control system for controlling a power generator of a power generation system executes a control policy to map an input-and-output sequence to a current value of the excitation voltage, submits the current value of the excitation voltage to the power generator, accepts a current value of the rotor angle caused by actuating the power generator according to the current value of the excitation voltage, and updates the input-and-output sequence with the corresponding current values of the rotor angle and the excitation voltage. The input-and-output sequence of values of the operation of the power generator includes a sequence of multiple values of the rotor angle of the power generator and a corresponding sequence of multiple values of excitation voltage to the power generator causing the values of the rotor angle. The control policy maps the input-and-output sequence to a current control input defining the current value of the excitation voltage.

Abstract: A system for thermal management of an electric motor, uses an augmented thermal circuit model of the electric motor, which relates temperatures of a set of nodes of the thermal circuit model with the temperature measurements at a first subset of nodes and heat losses of heat sources at a second subset of nodes, for joint estimation of the temperatures at the entire set of nodes and values of the heat losses in the second subset of nodes. The system solves the joint estimation using an estimator/observer. The system outputs one or combination of the values of the temperatures of the set of nodes and the values of the heat losses.

Abstract: A control system for parking a vehicle uses a directed graph representing a traffic network within parking space to determine a coarse path subsequently refined to control the vehicle according to refined path. The directed graph includes waypoints connected by edges, a waypoint defines a position and an orientation, while edge defines a collision free path for the vehicle. The coarse path is selected as a shortest route of waypoints connecting an initial waypoint on the directed graph closest to the initial state of the vehicle with a target waypoint on the directed graph closest to the target state of the vehicle. The refined path is a path on a tree constructed to reduce a deviation of a cost of a motion defined by a refined path connecting the initial node with the target node of the tree from a cost of the coarse path defining the route of waypoints.

Abstract: A computing system for generating optimal tracking control (TC) policies for controlling a machine to track a given time-varying reference (GTVR) trajectory. An updated augmented state of the machine is obtained. Stored in memory is the GTVR trajectory, a constraint-admissible invariant set (CAIS) of machine states satisfying machine state constraints and a corresponding TC policy mapping a machine state within the CAIS to a control input satisfying control input rate constraints. A processor jointly controls the computing system to control the operation to drive an augmented state of the machine to zero, and update the CAIS and TC policy. Joint control includes using a sequence of control inputs and a sequence of augmented machine states within CAIS corresponding to the sequence of tracking control inputs. Execute a constrained tracking approximate dynamic programming (TADP) using the received data to update the value function, update the CAIS and the corresponding TC policy.

Abstract: A controller is provided for operating a system under admissible states. The controller includes an interface configured to connect the system storing a set of measured system states, a set of reference inputs and a set of system parameters in a storage arranged inside or outside the system, a memory storing measured system states, admissible reference inputs and admissible parameter sets and computer-executable programs including a parameter estimator and an adaptive reference governor (ARG), a processor, in connection with the memory. The processor is configured to perform the ARG and the parameter estimator. The parameter estimator extracts a pair of a reference input and the system state and compute a system parameter estimate based on the reference input and system state.

Abstract: A motor comprising a shaft, an array of stator assemblies rigidly attached to the shaft, each stator assembly includes a stator yoke having a toroid shape fixed around the shaft and having a number of slots at radial and axis directional faces with windings within the slots of the stator yoke, and a rotor assembly rotatively attached to the shaft to enclose the array of stator assemblies, the rotor assembly has a rotor drum with sections, each section embraces one stator assembly, each section has two axial-flux permanent magnet arrays attached on axial-directional inner surfaces of the section and has one radial-flux permanent magnet array attached on a radial-directional inner surface of the section furthest from the shaft, wherein the axial-flux and the radial-flux permanent magnet arrays with the number of pole pairs equals the number of the stator slots plus or minus the number of stator winding pole pair.

Abstract: A networked control system for controlling at least one plant includes a receiver configured to receive a feedback signal indicative of a current state of a controlled variable of a plant over a wireless link and a controller configured to determine a control command based on a control error between a reference state of the controlled variable and the current state of the control variable. The system also includes a processor configured to determine, based on a function of the control error, a number of transmission times a packet with the control command needs to be transmitted over the wireless link, and a transmitter configured to transmit the packet over the wireless link the number of transmission times.