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42nd Chinese control Conference, CCC 2023

作者： Zhang, Zaishan Zhu, Wenwu Yu, Ke Wang, Xiangyu Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China

ISBN: (纸本)9789887581543

In this paper, a nonsmooth observer considering friction compensation is proposed for the sensorless permanent magnet synchronous motor (PMSM) to estimate the rotor position and speed. Friction is one of the main factors affecting the tracking accuracy of the motor at low speed, especially in the back and forth motion of the motor. Firstly, based on the Stribeck friction model, a nonlinear friction model of the motor is established. Secondly, a nonsmooth observer with friction compensation is designed to estimate the position and speed of the rotor, and the lumped disturbance of the system at the same time. Further, the stability analysis of this nonsmooth observer is given. Finally, the effectiveness of the proposed method is verified by the simulation results. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Sensorless control

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Continuous Non-Singular Terminal Sliding Mode control for High Pressure Common Rail Systems Using a FTDO 41

Continuous Non-Singular Terminal Sliding Mode Control for Hi...

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第41届中国控制会议

作者： Zheng Yuan Chen Dai Hao Sun Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

High pressure common rail(HPCR) technology has been widely applied in diesel *** tracking speed and the steady-state fluctuations of the rail pressure determine the performance of the HPCR *** this paper,the fuel injection disturbance which has a main impact on rail pressure fluctuations is fully *** on fluid dynamics and Newtonian mechanics,a nonlinear model of the HPCR system is *** order to suppress the fuel injection disturbance,a finitetime disturbance observer(FTDO) based continuous non-singular terminal sliding mode controller(CNTSMC+FTDO) is designed based on the three-step analysis *** is proved that the system tracking error can converge to the equilibrium point in a finite ***,a group of simulations and experiments are conducted in Simulink and the more realistic AMESim environment respectively and the results verify the effectiveness and feasibility of the proposed algorithm.

关键词： High pressure common rail Non-singular terminal sliding mode FTDO Rail pressure control AMESim

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Active Disturbance Rejection control for Uncertain Nonlinear Systems With Sporadic Measurements

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IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 893-906页

作者： Kanghui He Chaoyang Dong Qing Wang School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Delft Center for System and Control Delft University of TechnologyDelftthe Netherlands IEEE School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

This paper deals with the problem of active disturbance rejection control(ADRC)design for a class of uncertain nonlinear systems with sporadic measurements.A novel extended state observer(ESO)is designed in a cascade form consisting of a continuous time estimator,a continuous observation error predictor,and a reset *** proposed ESO estimates not only the system state but also the total uncertainty,which may include the effects of the external perturbation,the parametric uncertainty,and the unknown nonlinear *** a reset compensator,whose state is reset to zero whenever a new measurement arrives,is used to calibrate the *** to the cascade structure,the resulting error dynamics system is presented in a non-hybrid form,and accordingly,analyzed in a general sampled-data system *** on the output of the ESO,a continuous ADRC law is then *** convergence of the resulting closed-loop system is proved under given *** numerical simulations demonstrate the effectiveness of the proposed control method.

关键词： Active disturbance rejection control(ADRC) extended state observer(ESO) sampled measurements,uncertain nonlinear systems

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Psychomotor intervention through serious games in children and adolescents with autism spectrum disorder using a therapeutic robot

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Research on Biomedical engineering 2024年第3-4期40卷 485-497页

作者： da Luz Schreider, Sheila de Souza, Josiany Carlos da Silva Freitas, Éberte Valter Panceri, João Antonio Campos de Oliveira Caldeira, Eliete Maria Bastos-Filho, Teodiano Freire Av. Marechal Campos 1468 Maruipe Vitoria29047-105 Brazil Vitoria Brazil Vitoria Brazil Automation and Control Engineering Department Federal Institute of Espirito Santo Av. Filogônio Peixoto 2220 Aviso Linhares Brazil

Introduction: The autism spectrum disorder (ASD) is a neurodevelopmental disorder, characterized by an atypical neuropsychomotor development and communication. Methodology: In this work, a socially assistive robot termed MARIA T21 (Mobile Autonomous Robot for Interaction with Autistics and Trisomy 21) was used for interaction and application of serious games to children with ASD. The sample was composed of two groups: the first one with seven children with ASD, who had ten sessions with the robot at the Association of Friends of Autistics from Espirito Santo State (AMAES) in Vitoria, Brazil;and second group composed of four children with ASD, who had four sessions with the robot at the Association of Parents and Friends of Exceptional People (APAE) in Vila Velha, Brazil. The protocol was composed of four serious games, which stimulated postural balance, proprioception, and motor coordination. Results and conclusions: The utilization of the robot and serious games proved to be an important therapy tool, providing the children with playful activities, increasing their engagement, and providing them with a greater interaction between body and mind. In the evaluation of the psychomotor profile through the Psychomotor Battery by Victor da Fonseca, both groups had a statistically significant difference before and after the psychomotor intervention. © The Author(s), under exclusive licence to The Brazilian Society of Biomedical engineering 2024.

关键词： Serious games

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Research on Optimization Method of Injection Molding Machine Temperature control System Based on IK-SS

Research on Optimization Method of Injection Molding Machine...

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2024 China automation Congress, CAC 2024

作者： Zou, Haipeng Ye, Quanxiang Li, Xiaoyu Kong, Xiangsong Zhao, Dan Shao, Zhijiang School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Zhangzhou Hongxingtai Electronics Co. Ltd China College of Control Science and Engineering State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798350368604

Injection molding, as a plastic processing technology, is widely used in the mass production of plastic products with high precision and automation. However, the performance optimization process of this system currently faces some prominent issues, such as time consumption, reliance on experience, and difficulty in achieving optimality. Traditional optimization methods typically rely on manual experience and rules, which are inefficient and time-consuming. To enhance the performance of the control system, this paper focuses on utilizing an improved simplex search method based on the data-driven optimization concept to optimize the parameters of the temperature control system of the injection molding machine. The method introduced in this paper is termed the Knowledge-Informed Simplex Search Method Based on Adjacent Historical Centroid Points Information (IK-SS). The IK-SS algorithm is a variant of the simplex search method that utilizes information from the centroids of neighboring simplices to evaluate the current state of the optimization process and dynamically adjust the iteration step size. This approach aims to improve optimization efficiency while reducing computational complexity and time costs. Simulation and experimental validation demonstrate that the IK-SS algorithm significantly enhances the temperature control performance of the injection molding machine (IMM). This demonstrates the potential of the IK-SS algorithm as a tool for optimizing the temperature control system of injection molding machines. © 2024 IEEE.

关键词： Molding

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Privacy-Preserving Average Consensus Algorithm Under Round-Robin Scheduling Protocol

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1705-1707页

作者： Yingjiang Guo Wenying Xu Haodong Wang Jianquan Lu Shengli Du the School of Mathematics Southeast UniversityNanjing 21189China the School of Electronic Information and Electrical Engineering Chengdu UniversityChengdu 610106Chengdu 610106China the School of Artificial Intelligence and Automation Beijing University of TechnologyBeijing 100124 the Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of EducationBeijing 100124China

Dear Editor,Over the past decades,cooperative control and distributed optimization have gained significant research attention due to their broad applications such as signal processing,robotics,and social networks[1],[2].As a fundamental component of distributed control and optimization,the issue of average consensus has become a recurring topic of interest[3],[4].

关键词： optimization Round Robin

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The Deployment of Microservice at Edge based on MQTT for Low Latency 22

The Deployment of Microservice at Edge based on MQTT for Low...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Han, Mengqi Yang, Bo Liu, Yuxiang Liu, Sicheng Liu, Qi Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798331527471

With the rapid development of smart manufacturing, existing microservice deployment strategies based on the TCP protocol tend to encounter problems such as network latency, excessive header length, and port exhaustion in high concurrency scenarios. MQTT Broker can relay data between microservices, effectively alleviating these issues. However, the communication overhead of the Broker is significantly related to its deployment and the dependency of microservices. An appropriate deployment solution can significantly improve service quality. To address this issue, this paper models the deployment of MQTT Broker and microservices as a graph with cycles. By introducing auxiliary variables, the NP-hard problem is transformed into a mixed-integer quadratic programming problem, improving problem-solving efficiency and optimizing the microservices deployment strategy to reduce communication overhead. Meanwhile, a real-world heterogeneous cluster was constructed to experiment on fault detection applications, elaborating on the superiority of the microservice deployment strategy designed in this paper. Experimental results demonstrate that our approach reduces communication overhead by 20% in comparison to both the greedy strategy and the K8s strategy. This suggests that achieving an optimal balance between the number of Brokers and microservices is vital for ensuring efficient resource utilization and maintaining low communication latency, particularly as the scale of services expands. © 2024 IEEE.

关键词： Smart manufacturing

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Comprehensive Assessment Method for the Intelligence Level of Extraterrestrial Unmanned Detection System 41

Comprehensive Assessment Method for the Intelligence Level o...

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第41届中国控制会议

作者： Han Wu Yong Hu Qinglei Hu Biru Chi Wei Chen School of Automation Science and Electrical Engineering Beihang University Beijing Institute of Control Engineering Beihang Hangzhou Innovation Institute Yuhang

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a synthesis evaluation scheme of intelligence level for the Extraterrestrial Unmanned Detection System(EUDS).Specifically and firstly,the evaluating index framework(EIF) of intelligence level is constructed for data ***,an extensible judgment matrix of EIF is defined for calculating the index weight *** eliminate the vagueness and consistency of the judgment matrix,Extension AHP(EAHP) algorithm is ***,with the purpose of objectivity and rationality of assessment,the fuzzy synthesis evaluation method is leveraged to calculate the quantitative ***,the implementation process of the evaluation scheme is demonstrated by the experimental data and simulation example,and the assessment results are analyzed for the improvement of EUDS intelligence level.

关键词： Extraterrestrial Unmanned Detection System intelligent level evaluation EAHP fuzzy synthesis evaluation

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Unformer: A Transformer-Based Approach for Adaptive Multiscale Feature Aggregation in Underwater Image Enhancement

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第4期6卷 1024-1037页

作者： Qing, Yuhao Wang, Yueying Yan, Huaicheng Xie, Xiangpeng Wu, Zhengguang Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China Nanjing University of Posts and Telecommunications Institute of Advanced Technology Nanjing210023 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China

Underwater imaging is often compromised by light scattering and absorption, resulting in image degradation and distortion. This manifests as blurred details, color shifts, and diminished illumination and contrast, thereby hindering advancements in underwater research. To mitigate these issues, we propose Unformer, an innovative underwater image enhancement (UIE) technique that leverages a transformer-based architecture for multiscale adaptive feature aggregation. Our approach employs a multiscale feature fusion strategy that adaptively restores illumination and detail features. We reevaluate the relationship between convolution and transformer to develop a novel encoder structure. This structure effectively integrates both long-range and short-range dependencies, dynamically combines local and global features, and constructs a comprehensive global context. Furthermore, we propose a unique multibranch decoder architecture that enhances and efficiently extracts spatial context information through the transformer module. Extensive experiments on three datasets demonstrate that our proposed method outperforms other techniques in both subjective and objective evaluations. Compared with the latest methods, Unformer has improved the peak signal-to-noise ratio (PSNR) by 19.5% and 14.8% respectively on the LSUI and EUVP datasets. The code is available at: https://***/yhflq/Unformer. © 2024 IEEE.

关键词： Light scattering

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Secure Encoding Scheme for Consensus of Second-order Multi-Agent Systems 41

Secure Encoding Scheme for Consensus of Second-order Multi-A...

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第41届中国控制会议

作者： Bingya Zhao Ya Zhang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and security of the multiagent network is *** the network,the agents transmit messages to one another through digital channels,and there exists an eavesdropper whose aim is to overhear the state information of the agents in the *** of transmitting the states of themselves,the agents in the network send states of auxiliary systems to defend against the *** concept of topological entropy is utilized to restrict the eigenvalues of the encoding matrix.A sufficient condition is given to guarantee that the network achieves consensus,and the eavesdropper cannot get the accurate estimation of the state of any agent.A simulation example is given to show the performance of the agents and the eavesdropper under the designed encoding scheme.

关键词： Multi-agent system secure encoding scheme consensus topological entropy maximum transmission rate

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