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作者： Guo, Kai Li, Ming Han, Jun Bai, Zhi The School of Mechanical and Electrical Engineering Suzhou University Anhui Suzhou234000 China Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Anhui Wuhu241002 China

Iterative learning control (IIC) uses iterative correction to achieve the predetermined goal improvement, especially suitable for the point position control system of the robot, to achieve high-precision tracking of the desired trajectory within a limited time interval. The iterative algorithm step relies on the precise mathematical model of the system, but uses the previous control information and error information to form the input signal. Therefore, the iterative algorithm provides an effective method for robots with highly nonlinear, strongly coupled, and time-varying systems. Therefore, the purpose of this article is to study the model-based IIC algorithm and its simulation application in robot point control. This article first summarizes the basic theory of IIC algorithm, and then studies the basic process of its algorithm. On this basis, the robot point position control algorithm is simulated and analyzed. This research uses comparative method, observation method and other research methods to study the subject of this article. Experimental research shows that compared with the traditional robot point control system;the operating efficiency of the robot point control simulation system based on the model-based iterative control algorithm exceeds 15%. It fully reflects the feasibility of the robot point control simulation system studied in this article and the traditional problems that need to be solved urgently. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： robots

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Recognition of Fault State of RV Reducer Based on self-organizing feature map Neural Network 7

Recognition of Fault State of RV Reducer Based on self-organ...

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2021 7th International Conference on Mechanical engineering, Materials and Automation Technology, MMEAT 2021

作者： Zhao, Zhuanzhe Ye, Guowen Liu, Yongming Zhang, Zhen School of Mechanical Engineering Anhui Polytechnic University Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Wuhu China School of Mechanical Engineering Anhui Polytechnic University Wuhu China

In order to accurately evaluate the working state of RV reducer, a fault identification method based on the fault identification model established by Self-Organizing Feature Map (SOM) Neural Network is proposed. Firstly, the data measured by the RV reducer test platform are analyzed by wavelet to obtain the wavelet coefficient. Then, combined with the efficiency data of RV reducer, the mean square frequency, center of gravity frequency and frequency variance of the two groups of data are calculated after Fourier transform and power spectrum analysis. After optimization, several eigenvalues are obtained. The eigenvalues are input into the competitive neural network and SOM neural network to establish the fault identification model. Finally, the results of the fault identification model established by the competitive neural network and SOM neural network are compared. The prediction results show that the fault identification model established by SOM neural network can effectively determine the working state of RV reducer. © Published under licence by IOP Publishing Ltd.

关键词： Spectrum analysis

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Policy iteration-based adaptive optimal control for Markov jump systems: a transition-probability-free asynchronous approach

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Science China(information Sciences) 2024年第11期67卷 363-364页

作者： Weidi CHENG Chengcheng REN Shuping HE Changyin SUN Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Engineering Research Center of Autonomous Unmanned System Technology (Ministry of Education) School of Artificial Intelligence Anhui University

The controller and filter design problems of Markov jump systems(MJSs) have gained significant attention over the past few decades. These studies include various aspects,including stochastic stabilization [1], optimal tracking control [2], and dissipative filter design [3]. Although numerous publications address the optimal controller design for MJSs, the issue of hidden MJSs, particularly those with mismatched jumping modes between the system and the controller, has rarely been explored.

关键词： Markov processes

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Efficient Fine-Grained Pedestrian Detection on Edge Devices

Efficient Fine-Grained Pedestrian Detection on Edge Devices

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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Qian, Haozheng Fang, Mingxing Huang, Song Liu, Xinke Rui, Xinyu Du, Youwu School of Physics and Electronic Information Anhui Normal University Wuhu China Anhui Normal University Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Wuhu China School of Electrical and Information Engineering Jiangsu University of Technology Changzhou China

ISBN: (纸本)9798350316308

Currently, the prevailing approach in pedestrian detection involves leveraging deep learning techniques. However, effectively detecting pedestrian objects at small scales continues to pose a significant challenge in this field of research. Moreover, many algorithms prioritize accuracy improvement, making it difficult to deploy them in real-world scenarios. This paper proposes an edge device-friendly object detection method. We introduce a target extraction module with a minimal number of non-linear units to preserve fine-grained information in the network. Additionally, we design a trapezoidal FPN structure based on the structural re-parameterization technique, and optimize it specifically for edge devices. Furthermore, we construct a hardware platform to validate the feasibility of our algorithm in real-world applications. In the experimental section, we demonstrate that our proposed method outperforms comparative algorithms on the Caltech pedestrian dataset, while maintaining high speed on edge devices. © 2023 IEEE.

关键词： Feature extraction

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Design of Temperature Measurement and Identification System based on STM32 22

Design of Temperature Measurement and Identification System ...

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2022 International Workshop on control Sciences and Automation, WCSA 2022

作者： Hu, Xusheng Liu, Juan Tao, Binbin Ma'anshan Engineering Technology Research Center for Wireless Sensor Network and IntelliSense Ma'anshan243031 China Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Anhui Wuhu241002 China Ma'anshan Technical College Ma'anshan243030 China

ISBN: (纸本)9781450389396

In order to carry out contactless temperature measurement and identification and improve the speed of authentication, a temperature measurement and identification system based on STM32 is designed. Infrared temperature sensor is used for contactless temperature acquisition and measurement, and openmv system is used for identification. Openmv accurately recognizes the face and transmits the data to the single chip microcomputer, so as to control the LED lamp and buzzer for corresponding data output and alarm. The infrared temperature sensor collects the temperature and accurately displays it on the OLED screen through the single chip microcomputer. The experimental data show that the temperature control accuracy is ± 0.7 g, the success rate of identity recognition is higher than 80%, and the temperature and identity recognition effect are obvious. © 2022 ACM.

关键词： Temperature measurement

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Design and implementation of UAV obstacle avoidance based on STM32 3

Design and implementation of UAV obstacle avoidance based on...

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3rd International Conference on Mechatronics and Mechanical engineering, ICMME 2024

作者： Hu, Xusheng Liu, Juan Ma'anshan Engineering Technology Research Center for Wireless Sensor Network and IntelliSense Ma’anshan243031 China Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Wuhu241002 China Ma'anshan Technical College Ma'anshan243030 China

ISBN: (纸本)9781510681651

With the development of remote control and telemetry technology, the application of UAV is more and more extensive, and the requirement of UAV flight control is higher and higher. In order to enhance the stability of UAV hardware system, the power supply part is protected in various ways;a spare chip is added to ensure the effectiveness of attitude calculation;SPI peripheral interface is reserved to expand GPS, ultrasonic and other sensors. Through the mathematical model, the calibration method of accelerometer and gyroscope is introduced, and the importance of this step for flight control system is emphasized. The software flow chart of the system is designed, and the mathematical model of obstacle avoidance algorithm is given. The classic PID control algorithm and simulation method are used to realize the obstacle avoidance of UAV. Considering the problems that may be encountered in UAV obstacle avoidance, the mathematical model is established, the evaluation index is given, and the control experiment is designed. Experimental results show that the algorithm has good obstacle avoidance effect and strong robustness in low speed and complex environment. © 2024 SPIE.

关键词： Three term control systems

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research on photovoltaic power generation based on multi-channel PID 2

Research on photovoltaic power generation based on multi-cha...

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2nd IEEE Asia-Pacific Conference on Image Processing, Electronics and Computers, IPEC 2021

作者： Liu, Juan Hu, Xusheng Zheng, Rui Ma'Anshan Technical College Department of Electrical Engineering Ma'anshan China Wanjiang University of Technology Ma'Anshan Engineering Technology Research Center for Wireless Sensor Network and IntelliSense Ma'anshan China Anhui Normal University Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Wuhu China

ISBN: (纸本)9781728190181

In order to improve the utilization efficiency of solar energy, based on the in-depth study of the characteristics of solar energy, a control scheme based on daily motion trajectory was designed. In this scheme, single chip microcomputer is used as the controller to realize the output of SPWM waveform, and the compound PID with multiplexing selection is used to control the Angle of solar panel, so as to achieve the effect of fast and sensitive tracking of solar illumination. Through the angle sensor, on-line monitoring of the angle data of the solar panel, according to the intelligent control optimization algorithm, combined with single-chip microcomputer control technology, a more optimized control scheme is proposed. The experimental data show that the design effect is good and the expected control goal is achieved. © 2021 IEEE.

关键词： Solar energy

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A Simple Fifth Order Digital Differential Analyzer for Circle Generation 5

A Simple Fifth Order Digital Differential Analyzer for Circl...

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2023 5th International Conference on Modeling, Simulation, Optimization and Algorithm, ICMSOA 2023

作者： Chen, Peng Hu, Jinyi Qu, Liguo Wang, Yang Zhao, Lijun College of Physics and Electronic Information Anhui Normal University Anhui Wuhu241000 China Yangtze Delta Region Hart Robotic Technology Research Institute Anhui Wuhu241000 China Anhui Provincial Engineering Laboratory on Information Fusion and Control for Intelligent Robot Anhui Wuhu241000 China Beijing Jingwei Information Technologies Co. Ltd. Beijing100081 China

Digital differential analyzer(DDA) can be used to generate circles and can be treated as a one-step or two-step numerical scheme. DDA algorithms have been classified by the order of some polynomials. We present and discuss a novel fifth-order DDA circle generating algorithms based on the one-step numerical scheme. Numerical experiments show that they are more accurate than the third-order one-step DDA algorithm. © Published under licence by IOP Publishing Ltd.

关键词： Approximation algorithms

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A chattering free consensus controller for multiple Lur'e systems with a non-autonomous leader and directed switching topology

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Science China(Technological Sciences) 2023年第4期66卷 1110-1118页

作者： WANG PeiJun YU WenWu WEN GuangHui YU XingHuo HUANG TingWen School of Mathematics and Statistics Anhui Normal UniversityWuhu 241000China Anhui Province Engineering Laboratory of Intelligent Robot's Information Fusion and Control Anhui Normal UniversityWuhu 241000China School of Mathematics Frontiers Science Center for Mobile Information Communication and SecuritySoutheast UniversityNanjing 210096China Purple Mountain Laboratories Nanjing 21111lChina Department of Electrical Engineering Nantong UniversityNantong 226019China Department of Systems Science School of MathematicsSoutheast UniversityNanjing 210096China School of Engineering RMIT UniversityMelbourne VIC 3001Australia Science Program Texas A&M University at QatarDoha 23874Qatar

Achieving asymptotical cooperative goal for multi-agent systems(MASs)with non-autonomous leaders(i.e.,leaders with nonzero inputs)is a critical but challenging *** approach is to use discontinuous controllers which may cause chattering phenomenon in practical *** to achieve the asymptotical goal via a chattering free cooperative controller remains to be open so *** this paper,an adaptive continuous controller is designed to achieve zero error consensus tracking in multiple Lur’e systems with a non-autonomous leader under directed switching ***,an unknown input observer(UIO)based on relative outputs is given to estimate the relative full *** an adaptive continuous controller is designed by introducing a decay function which remains positive into the term that plays the role of eliminating the impacts of leader’s nonzero ***,by using multiple Lyapunov functions(MLFs)technique,it is proven that zero error consensus tracking can be achieved if the average dwell time(ADT)is greater than a positive ***,theoretical result is verified by performing simulations on Chua’s *** with existing work,the proposed controller can not only achieve asymptotical consensus,but also is chattering free.

关键词： multi-agent system consensus chattering free non-autonomous leader directed switching topology

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Method for robot capturing object thrown out in natural wind environment

Method for robot capturing object thrown out in natural wind...

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2020 International Symposium on Automation, information and Computing, ISAIC 2020

作者： Zheng, Rui Zhao, Chuanchao Kang, Jun Lu, Zibao School of Physics and Electronic Information Anhui Normal University Wuhu241002 China School of Instrument Science and Engineering Southeast University Nanjing210096 China Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Wuhu241002 China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China

It is difficult for a robot to capture object which is thrown out in the environment with natural wind. Equation of state and measurement of the object in the environment with natural wind is studied. Using the measurement equation and the state equation when there is no natural wind, the average acceleration of the object caused by natural wind can be estimated. Moreover, the variance of the object acceleration caused by natural wind can be estimated using the statistical characteristics and probability distribution of natural wind. Then a method for robot capturing the object based on Kalman filter is proposed. Simulation results show that the trajectory of the object changes obviously when two groups of typical natural wind are used. The object trajectory can be tracked by the robot accurately after it deviates from the object trajectory for about eight sampling periods. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Probability distributions

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