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2024 CPSS and IEEE International Symposium on Energy Storage and Conversion, CPSS and ISESC 2024

作者： Liu, Qian Huang, Kangxing Wei, Xueliang Zheng, Yihong Xiang, Hao School of Automation Wuhan University of Technology Wuhan China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong College of Artificial Intelligence China University of Petroleum-Beijing Beijing China Wuhan IActuator Robotics Co. Ltd Software Development Department Wuhan China

ISBN: (纸本)9798350380514

The capacitor is a common weak point in motor drive system design, necessitating targeted selection, design, and optimization of capacitor banks within these systems. Traditional capacitor design often relies on engineering experience, usually meeting specific capacitance and voltage requirements through simple parallel or series connections of capacitors. This approach often fails to fully optimize volume, cost, and reliability. This paper uses comprehensive theoretical modeling to optimize capacitor module design, effectively balancing capacitor lifespan, cost, and volume. For the design and selection of DC-link capacitors in a 1kW permanent magnet synchronous motor drive system, a multi-objective optimization design method for capacitor banks is proposed. The study treats the individual capacitance values of parallel capacitors as variables, significantly enhancing the overall performance of the capacitor module through precise optimization and the introduction of necessary constraints in the selection design. The proposed method is validated with a 1kW permanent magnet synchronous motor drive system. The optimization results show that under the guidance of a multi-objective optimization framework, the designed DC-link capacitor module meets physical size requirements while achieving overall optimization in terms of volume, cost, and lifespan, significantly improving system reliability. © 2024 IEEE.

关键词： Permanent magnets

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ETA-IK: Execution-Time-Aware Inverse Kinematics for Dual-Arm Systems

arXiv

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arXiv 2024年

作者： Tang, Yucheng Huang, Xi Zhang, Yongzhou Chen, Tao Mamaev, Ilshat Hein, Björn The Karlsruhe University of Applied Sciences Karlsruhe Germany Proximity Robotics & Automation GmbH Germany Karlsruhe Institute of Technology Karlsruhe Germany

This paper presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by leveraging the redundancy of both arms, specifically in tasks where only the relative pose of the robots is constrained, such as dual-arm scanning of unknown objects. Unlike traditional inverse kinematics methods that use surrogate metrics such as joint configuration distance, our method incorporates direct motion execution time and implicit collisions into the optimization process, thereby finding target joints that allow subsequent trajectory generation to get more efficient and collision-free motion. A neural network based execution time approximator is employed to predict time-efficient joint configurations while accounting for potential collisions. Through experimental evaluation on a system composed of a UR5 and a KUKA iiwa robot, we demonstrate significant reductions in execution time. The proposed method outperforms conventional approaches, showing improved motion efficiency without sacrificing positioning accuracy. These results highlight the potential of ETA-IK to improve the performance of dual-arm systems in applications, where efficiency and safety are paramount. Copyright © 2024, The Authors. All rights reserved.

关键词： Inverse kinematics

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Synthesis of Diagnostic Observers for Linear Systems Based on Optimal Control Methods

Synthesis of Diagnostic Observers for Linear Systems Based o...

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2022 International Conference on Control, automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

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2024 International Conference on Ocean Studies, ICOS 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Intelligent Information Systems for Marine Robots Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Robotic Systems Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798331532307

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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ATTENTION-AWARE LAPAROSCOPIC IMAGE DESMOKING NETWORK WITH LIGHTNESS EMBEDDING AND HYBRID GUIDED EMBEDDING

arXiv

引用

arXiv 2024年

作者： Liu, Ziteng Zhu, Jiahua Liu, Bainan Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China

This paper presents a novel method of smoke removal from the laparoscopic images. Due to the heterogeneous nature of surgical smoke, a two-stage network is proposed to estimate the smoke distribution and reconstruct a clear, smoke-free surgical scene. The utilization of the lightness channel plays a pivotal role in providing vital information pertaining to smoke density. The reconstruction of smoke-free image is guided by a hybrid embedding, which combines the estimated smoke mask with the initial image. Experimental results demonstrate that the proposed method boasts a Peak Signal to Noise Ratio that is 2.79% higher than the state-of-the-art methods, while also exhibits a remarkable 38.2% reduction in run-time. Overall, the proposed method offers comparable or even superior performance in terms of both smoke removal quality and computational efficiency when compared to existing state-of-the-art methods. This work will be publicly available on http://***/wpgao. Copyright © 2024, The Authors. All rights reserved.

关键词： Smoke

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Formation Control and Sub-Swarm Generation of Multirotor UAVs

Formation Control and Sub-Swarm Generation of Multirotor UAV...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Muzamal Shahzad Muhammad Haroon Asad Muhammad Haris Hammad Munawar Muhammad Haroon Yousaf Swarm Robotics Lab National Center of Robotics and Automation University of Engineering and Technology Taxila Taxila Pakistan Computer Engineering Department University of Engineering and Technology Taxila Taxila Pakistan

The research field of collective behaviors takes inspiration from natural self-organizing systems like honeybees, fish schools, social insects, bird flocks, and other social animals. These behaviors can be transformed into robots by replicating the same set of rules as found in the natural swarms. The deployment of aerial swarm robotics has become significant due to their multiple applications in surveillance, agriculture, and military. These applications lead to the development of aerial swarm robotic platforms to solve real-world problems. For example, a swarm of low-tech, cost-effective small UAVs can engage a high-tech target effectively. Similarly, a swarm of UAVs can perform surveillance and rescue missions in disastrous areas and build an emergency communication network through multiple UAV swarms. The critical part of swarm technology is multiple swarm intelligence algorithms that have been proposed and tested by various simulation platforms such as V-rep, Gazebo and MATLAB. Very few of them have been deployed on hardware to solve real scenarios that include formation control, navigation, pattern formation, and a few sub-swarm generation algorithms. Team connectivity is one of the essential aspects of a swarm network that emerges the collective intelligence of the group and ensures the readiness of the algorithm to deploy and solve real-world problems. Many researchers proposed the team connectivity algorithms in a single swarm network but still left the connectivity gap between the sub-swarms during a mission. This research work contributes toward designing a swarm intelligence algorithm to improve the connectivity techniques and team connectivity between the swarm agents and the sub-swarm groups.

关键词： Pattern formation Service robots Navigation Surveillance Insects Swarm robotics Formation control

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On Networked Dynamical Systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

引用

第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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A High-Performance Optical Waveguide Sensor for Curvature Sensing of Enveloped Soft Actuators

A High-Performance Optical Waveguide Sensor for Curvature Se...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Mo, Liyan Zhang, Daohui Dou, Jiansong Bai, Li Zhang, Qifeng Zhao, Xingang The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China University of Chinese Academy of Sciences Beijing China Shenyang University of Technology Shenyang China Northeastern University Shenyang China The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang China

ISBN: (纸本)9781665481090

Curvature sensing is extremely significant for soft actuators. Many flexible resistive sensors based on conductive powder and liquid are developed to realize the curvature sensing of actuators. However, they have low sensitivity and linearity, high hysteresis, and are easily damaged. In order to address these problems, we promoted a method to achieve the curvature sensing of an enveloped soft actuator by embedding a flexible optical waveguide sensor into the actuator. In this paper, we design and fabricate a high-performance optical waveguide sensor with a square core cross-section (1.5 mm), and the effect of the cross-section size of the optical waveguide core on the performance of the sensor is studied for the first time. Then, realizing the proprioception of the enveloped actuator based on the high-performance sensor. Three conclusions are drawn from the experimental results: 1) In handcrafted conditions, sensors with the smaller core cross-section size have better performance in bending, stretching, and pressing deformations. 2) Sensors with a smallest square core cross-section (1.5 mm width) fabricated in this work can be stretched to 130% and undergo pressure at 50 N (about 400 KPa), which is better than many optical sensors. In addition, they have high linearity, low hysteresis, and a small dead area (less than 10%) in stretching response. 3) The enveloped soft actuator with curvature sensing is stable and has good linearity;the root mean square error of the fitted curve between the curvature of the actuator and the power loss of the sensor is about 0.57. © 2022 IEEE.

关键词： Actuators

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