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Research, Invention, and Innovation Congress (RI2C)

作者： Peerawat Meesuk Natthaphong Nak-Udom Kittiphong Phimyotha Program of Electrical Engineering and Automation Control System Faculty of Engineering and Industrial Technology Bansomdejchaopraya Rajabhat University Bangkok Thailand Program of Electromechanic Manufacturing Engineering Faculty of Engineering and Industrial Technology Bansomdejchaopraya Rajabhat University Bangkok Thailand

ISBN: (数字)9798331506018

ISBN: (纸本)9798331506025

This article presents the development of electric motor torque meter using microcontroller together with dynamometer process and application of light process to find out revolutions per minute (RPM) which torque is a variable that affects the effectiveness of electrical machine. A torque meter is, therefore, a tool that has an important role to work with mechanical part. The torque meter and RPM was tested and found that there is an error of torque measure at 13.74 percent and found that the torque has higher errors when it exceeds 2 N-m and there is an error of RPM at 5.36 percent.

关键词： Technological innovation Torque Microcontrollers Measurement uncertainty Size measurement Pollution measurement Electrical resistance measurement Tachometers Standards Electric motors

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Object Detection and Multiple Objective Optimization Manipulation Planning for Underwater Autonomous Capture in Oceanic Natural Aquatic Farm

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Journal of Field Robotics 2025年第0期

作者： Hai, Huang Tao, Jiang Xinyu, Bian Hao, Zhou Xu, Yang Gang, Wang Hongde, Qin Xinyue, Han National Key Laboratory of Science and Technology on Underwater Vehicle Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Bei Jing China

Underwater autonomous capture operations offer significant potential for reducing labor and health risks in sea organism industries. This study presents a comprehensive solution for cross-domain underwater object detection and autonomous capture. A novel unsupervised domain adaptive learning method is proposed, integrating multiscale domain adaptive modules and attention mechanisms into a Faster Region-Convolutional Neural Network framework. This approach enhances feature alignment across diverse aquatic domains without parameter tuning. Additionally, an efficient, parameterless constrained multiobjective optimization algorithm is introduced for underwater autonomous mobile capture, integrating parameterized trajectory planning with innovative features, such as adaptive mutation strategies and constraint violation tolerance. The proposed approaches are extensively validated through simulations, tank experiments, and real-world oceanic trials in the Natural Aquatic Farm of Zhangzidao Island. Results demonstrate the system's robustness in complex underwater environments with varying currents, with experimental outcomes validating the accuracy and reliability of detection and capture capabilities. This research significantly advances autonomous underwater systems' capabilities in object detection and capture tasks, addressing complex challenges in realistic organism capture applications across diverse aquatic environments. © 2025 Wiley Periodicals LLC.

关键词： Health risks

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Fixed-time extended state observer-based trajectory tracking control for autonomous underwater vehicles

Fixed-time extended state observer-based trajectory tracking...

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作者： Zheng, Jiaqi Song, Lei Liu, Lingya Yu, Wenbin Zhu, Shanying Wang, Yiyin Chen, Cailian 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 Jiao Tong University Shanghai China

In this paper, we investigate the trajectory tracking control problem for autonomous underwater vehicles (AUVs) with time-varying external disturbances of currents and waves in the sea. To solve the problem, a fixed-time extended state observer (FTESO)-based tracking controller is proposed. Firstly, by using the extended state observer, the FTESO is proposed for estimating the external disturbances and the velocities of the AUV within the fixed convergence time. Based on the FTESO, the fixed-time controller is proposed for reducing the tracking errors and improving robustness performance. Theoretical analysis is given, which shows that the unknown external disturbances can be compensated and tracking error can converge to zero within the fixed time. Simulation results show that the proposed FTESO controller not only guarantees the fixed-time convergence but also reduces the trajectory tracking errors of the AUV. © 2021 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd.

关键词： Autonomous underwater vehicles

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Adaptive Prescribed-Time Distributed Nash Equilibrium Seeking for Networked Games with Heterogeneous Dynamics and Unknown Uncertainties

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IEEE Transactions on control of Network systems 2025年

作者： Chen, Yiyang Hua, Yongzhao Feng, Zhi Dong, Xiwang Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Shenyuan Honors College Beijing100191 China Beihang University School of Artificial Intelligence Institute of Artificial Intelligence Beijing100191 China Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China Beihang University Institute of Unmanned System School of Artificial Intelligence Institute of Artificial Intelligence School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China

This paper investigates the adaptive prescribed-time distributed Nash equilibrium (NE) seeking problems for networked games with heterogeneous dynamics and unknown uncertainties. The proposed algorithms are based on the two-layer structure, namely the NE seeking part and the tracking control part. For the players without uncertainties, the adaptive parameters are utilized in the seeking part to avoid the use of the global information. The auxiliary variables are constructed to seek for the NE point within the prescribed time and serve as the reference signals for the tracking control part. Then the state feedback control is designed to drive the strategies of all the players to the expected NE point in the prescribed time. Furthermore, the approximation theory is introduced to deal with the unknown nonlinear uncertainties. The exponential parameters are involved in the designed estimates to accelerate the convergence rate. The Lyapunov method is utilized to show the prescribed-time convergence property of the algorithms. Besides, although the time-varying piecewise function is involved in the algorithms, the uniform boundedness of the control input can be ensured by carefully selecting the initial values of the auxiliary parameters. Finally, the simulation is given to show the effectiveness of the proposed algorithms. © 2025 IEEE.

关键词： Lyapunov methods

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Survey on Foundation Models for Prognostics and Health Management in Industrial Cyber-Physical systems

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2024年 2卷 264-280页

作者： Liu, Ruonan Zhang, Quanhu Han, Te Yang, Boyuan Zhang, Weidong Yin, Shen Zhou, Donghua Shanghai Jiao Tong University Department of Automation Shanghai200240 China Tianjin University College of Intelligence and Computing Tianjin300350 China Beijing Institute of Technology Center for Energy and Environmental Policy Research Beijing100081 China Beijing Institute of Technology School of Management Beijing100081 China Beijing Laboratory for System Engineering of Carbon Neutrality Beijing100081 China Nanjing University Center for Advanced Control and Smart Operations Suzhou215163 China Hainan University School of Information and Communication Engineering Haikou570228 China Shanghai Jiaotong University Department of Automation Shanghai200240 China Norwegian University of Science and Technology Trondheim7491 Norway

Industrial Cyber-Physical systems (ICPS) integrating disciplines such as computer science, communication technology, and engineering, have become a crucial component of modern manufacturing and industry. However, ICPS faces numerous challenges during long-term operation, including equipment faults, performance degradation, and security threats, etc. To achieve efficient maintenance and management, prognostics and health management (PHM) has been widely applied in the critical tasks of ICPS such as fault prediction, health monitoring, and maintenance decision-making. The emergence of large-scale foundation models (LFMs) like BERT and GPT marks a significant advancement in artificial intelligence (AI) technology, demonstrating substantial application potential in multiple fields. The accumulation of AI technology, rapid development of LFMs, and the abundance of industrial data and industrial process knowledge provide the foundational conditions for the construction and advancement of industrial LFMs. However, there is currently a lack of consensus on applying LFMs of PHM in ICPS, necessitating a systematic review and roadmap to clarify future development directions. To bridge this gap, this survey provides a comprehensive survey and understanding of the recent advances in LFMs of PHM in ICPS. It provides valuable references for decision makers and researchers in the industry, and helps to further improve the reliability, availability and safety of ICPS. © 2023 IEEE.

关键词： Cyber Physical system

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER Technology in automation, control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Optimal control Synthesis of Markov Decision Processes for Efficiency with Surveillance Tasks

Optimal Control Synthesis of Markov Decision Processes for E...

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IEEE Conference on Decision and control

作者： Yu Chen Xuanyuan Yin Hao Ye Shaoyuan Li Xiang Yin Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University Singapore Department of Automation Tsinghua University China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We investigate the problem of optimal control synthesis for Markov Decision Processes (MDPs), addressing both qualitative and quantitative objectives. Specifically, we require the system to fulfill a qualitative surveillance task in the sense that a specific region of interest can be visited infinitely often with probability one. Furthermore, to quantify the performance of the system, we consider the concept of efficiency, which is defined as the ratio between rewards and costs. This measure is more general than the standard long-run average reward metric as it aims to maximize the reward obtained per unit cost. Our objective is to synthesize a control policy that ensures the surveillance task while maximizes the efficiency. We provide an effective approach to synthesize a stationary control policy achieving $\epsilon$-optimality by integrating state classifications of MDPs and perturbation analysis in a novel manner. Our results generalize existing works on efficiency-optimal control synthesis for MDP by incorporating qualitative surveillance tasks.

关键词： Measurement Costs Surveillance Perturbation methods Markov decision processes Optimal control Optimization Standards

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Guanfeng Yu Han Zhang Zehao Wang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities.

关键词： Pedestrians Accuracy systematics Wheelchairs Estimation Predictive models Real-time systems

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Group-based multiple pipe routing method for aero-engine focusing on parallel layout

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Frontiers of Mechanical engineering 2021年第4期16卷 798-813页

作者： Hexiang YUAN Jiapeng YU Duo JIA Qiang LIU Hui MA School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion System(Ministry of Education) Northeastern UniversityShenyang 110819China Shenyang Engine Research Institute of AECC Shenyang 110015China School of Information and Control Engineering Liaoning Petrochemical UniversityFushun 113001China

External pipe routing for aero-engine in limited three-dimensional space is a typical nondetermini-stic polynomial hard problem,where the parallel layout of pipes plays an important role in improving the utilization of layout space,facilitating pipe assembly,and *** paper presents an automatic multiple pipe routing method for aero-engine that focuses on parallel *** compressed visibility graph construction algorithm is proposed first to determine rapidly the rough path and interference relationship of the pipes to be *** on these rough paths,the information of pipe grouping and sequencing are obtained according to the difference degree and interference degree,***,a coevolutionary improved differential evolution algorithm,which adopts the coevolutionary strategy,is used to solve multiple pipe layout optimization *** using this algorithm,pipes in the same group share the layout space information with one another,and the optimal layout solution of pipes in this group can be obtained in the same evolutionary ***,to eliminate the minor angle deviation of parallel pipes that would cause assembly stress in actual assembly,an accurate parallelization processing method based on the simulated annealing algorithm is ***,the simulation results on an aero-engine demonstrate the feasibility and effectiveness of the proposed method.

关键词： multiple pipe routing optimization algorithm aero-engine pipe grouping parallel layout

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Event-triggered learning of Euler-Lagrange systems: A Koopman operator framework

Event-triggered learning of Euler-Lagrange systems: A Koopma...

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IEEE Conference on Decision and control

作者： Kaikai Zheng Dawei Shi Shilei Li Yang Shi MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing China Department of Mechanical Engineering Faculty of Engineering University of Victoria Victoria BC Canada

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Euler-Lagrange (EL) systems represent a crucial and large class of dynamical systems, and a precise model of the true system would be beneficial in planning and tracking problems. This work aims to learn an unknown EL system using noisy measurement data to achieve improved data utilization efficiency. Specifically, for the considered EL system, a linear representation of the system is constructed using the Koopman operator, which is further characterized by sample data using Willems’ fundamental lemma. Moreover, an event-triggered learning mechanism is proposed to improve data utilization efficiency, and it is designed based on the analysis of the learning error bounds. The effectiveness of the proposed event-triggered learning approach is validated through a manipulator example.

关键词： Learning systems Event detection Manipulators Safety Planning Noise measurement Dynamical systems

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