1,084,664 research outputs found

    A reverse predictive model towards design automation of microfluidic droplet generators

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    This work has been presented in the 10th IWBDA workshop.Droplet-based microfluidic devices in comparison to test tubes can reduce reaction volumes 10^9 times and more due to the encapsulation of reactions in micro-scale droplets [4]. This volume reduction, alongside higher accuracy, higher sensitivity and faster reaction time made droplet microfluidics a superior platform particularly in biology, biomedical, and chemical engineering. However, a high barrier of entry prevents most of life science laboratories to exploit the advantages of microfluidics. There are two main obstacles to the widespread adoption of microfluidics, high fabrication costs, and lack of design automation tools. Recently, low-cost fabrication methods have reduced the cost of fabrication significantly [7]. Still, even with a low-cost fabrication method, due to lack of automation tools, life science research groups are still reliant on a microfluidic expert to develop any new microfluidic device [3, 5]. In this work, we report a framework to develop reverse predictive models that can accurately automate the design process of microfluidic droplet generators. This model takes prescribed performance metrics of droplet generators as the input and provides the geometry of the microfluidic device and the fluid and flow settings that result in the desired performance. We hope this automation tool makes droplet-based microfluidics more accessible, by reducing the time, cost, and knowledge needed for developing a microfluidic droplet generator that meets certain performance requirement

    Adaptive reference model predictive control for power electronics

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    An adaptive reference model predictive control (ARMPC) approach is proposed as an alternative means of controlling power converters in response to the issue of steady-state residual errors presented in power converters under the conventional model predictive control (MPC). Differing from other methods of eliminating steady-state errors of MPC based control, such as MPC with integrator, the proposed ARMPC is designed to track the so-called virtual references instead of the actual references. Subsequently, additional tuning is not required for different operating conditions. In this paper, ARMPC is applied to a single-phase full-bridge voltage source inverter (VSI). It is experimentally validated that ARMPC exhibits strength in substantially eliminating the residual errors in environment of model mismatch, load change, and input voltage change, which would otherwise be present under MPC control. Moreover, it is experimentally demonstrated that the proposed ARMPC shows a consistent erasion of steady-state errors, while the MPC with integrator performs inconsistently for different cases of model mismatch after a fixed tuning of the weighting factor

    Model Predictive Regulation

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    We show how optimal nonlinear regulation can be achieved in a model predictive control fashion

    Fault tolerant model predictive control of open channels

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    Automated control of water systems (irrigation canals, navigation canals, rivers etc.) relies on the measured data. The control action is calculated, in case of feedback controller, directly from the on-line measured data. If the measured data is corrupted, the calculated control action will have a different effect than it is desired. Therefore, it is crucial that the feedback controller receives good quality measurement data. On-line fault detection techniques can be applied in order to detect the faulty data and correct it. After the detection and correction of the sensor data, the controller should be able to still maintain the set point of the system. In this paper this principle using the sensor fault masking is applied to model predictive control of open channels. A case study of a reach of the northwest of the inland navigation network of France is presented. Model predictive control and water level sensor masking is applied.Peer ReviewedPostprint (published version

    Interval model predictive control

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    6TH INTERNATIONAL WORKSHOP ON ALGORITHMS AND ARCHITECTURES FOR REAL TIME CONTROL (6) (6.2000.PALMA DE MALLORCA. ESPAĂ‘A)Model Predictive Control is one of the most popular control strategy in the process industry. One of the reason for this success can be attributed to the fact that constraints and uncertainties can be handled. There are many techniques based on interval mathematics that are used in a wide range of applications. These interval techniques can mean an important contribution to Model Predictive Control giving algorithms to achieve global optimization and constraint satisfaction

    Optimal predictive model selection

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    Often the goal of model selection is to choose a model for future prediction, and it is natural to measure the accuracy of a future prediction by squared error loss. Under the Bayesian approach, it is commonly perceived that the optimal predictive model is the model with highest posterior probability, but this is not necessarily the case. In this paper we show that, for selection among normal linear models, the optimal predictive model is often the median probability model, which is defined as the model consisting of those variables which have overall posterior probability greater than or equal to 1/2 of being in a model. The median probability model often differs from the highest probability model

    Frequency-Aware Model Predictive Control

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    Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on the real system. Model errors can be a result of model simplifications, but also naturally arise when deploying the robot in unstructured and nondeterministic environments. Predominantly, compliant contacts and actuator dynamics lead to bandwidth limitations. While classical control methods provide tools to synthesize controllers that are robust to a class of model errors, such a notion is missing in modern trajectory optimization, which is solved in the time domain. We propose frequency-shaped cost functions to achieve robust solutions in the context of optimal control for legged robots. Through simulation and hardware experiments we show that motion plans can be made compatible with bandwidth limits set by actuators and contact dynamics. The smoothness of the model predictive solutions can be continuously tuned without compromising the feasibility of the problem. Experiments with the quadrupedal robot ANYmal, which is driven by highly-compliant series elastic actuators, showed significantly improved tracking performance of the planned motion, torque, and force trajectories and enabled the machine to walk robustly on terrain with unmodeled compliance

    Preconditioned Continuation Model Predictive Control

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    Model predictive control (MPC) anticipates future events to take appropriate control actions. Nonlinear MPC (NMPC) describes systems with nonlinear models and/or constraints. A Continuation/GMRES Method for NMPC, suggested by T. Ohtsuka in 2004, uses the GMRES iterative algorithm to solve a forward difference approximation Ax=bAx=b of the Continuation NMPC (CNMPC) equations on every time step. The coefficient matrix AA of the linear system is often ill-conditioned, resulting in poor GMRES convergence, slowing down the on-line computation of the control by CNMPC, and reducing control quality. We adopt CNMPC for challenging minimum-time problems, and improve performance by introducing efficient preconditioning, utilizing parallel computing, and substituting MINRES for GMRES.Comment: 8 pages, 6 figures. To appear in Proceedings SIAM Conference on Control and Its Applications, July 8-10, 2015, Paris, Franc

    Nonparametric nonlinear model predictive control

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    Model Predictive Control (MPC) has recently found wide acceptance in industrial applications, but its potential has been much impeded by linear models due to the lack of a similarly accepted nonlinear modeling or databased technique. Aimed at solving this problem, the paper addresses three issues: (i) extending second-order Volterra nonlinear MPC (NMPC) to higher-order for improved prediction and control; (ii) formulating NMPC directly with plant data without needing for parametric modeling, which has hindered the progress of NMPC; and (iii) incorporating an error estimator directly in the formulation and hence eliminating the need for a nonlinear state observer. Following analysis of NMPC objectives and existing solutions, nonparametric NMPC is derived in discrete-time using multidimensional convolution between plant data and Volterra kernel measurements. This approach is validated against the benchmark van de Vusse nonlinear process control problem and is applied to an industrial polymerization process by using Volterra kernels of up to the third order. Results show that the nonparametric approach is very efficient and effective and considerably outperforms existing methods, while retaining the original data-based spirit and characteristics of linear MPC
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