检索结果-内蒙古大学图书馆

Chinese control and Decision Conference, CCDC

作者： Shiwei Su Kaixiang Peng Xueyi Zhang University of Science and Technology Beijing Key Laboratory for Advanced Control of Iron and Steel Process of Ministry of Education School of Automation and Electrical EngineeringBeijingPeople's Republic of China100083

With the development of customization and flexibility of manufacturing industry, intelligent manufacturing process gradually presents multimodal characteristics, which are reflected in the strong coupling, nonlinear, multi working conditions and other characteristics of the process. In this paper, a multi-modal process monitoring method based on dynamic expansion is proposed. In view of the dynamic characteristics of process data, the process data is dynamically expanded through the amplification matrix, and then the multi-modal process data is modal divided through the improved K-means algorithm. The divided multi-modal process data is monitored using Variational Autoencoder, and relevant statistics and control limits are designed. Finally, the multi-modal process monitoring is constructed by introducing the method of random forest for modal identification. The validity of the algorithm is verified by real data of steel rolling process.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Safety-Critical control of Euler-Lagrange Systems Subject to Multiple Obstacles and Velocity Constraints

arXiv

引用

arXiv 2024年

作者： Liu, Zhi Wu, Si Liu, Tengfei Jiang, Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

This paper studies the safety-critical control problem for Euler-Lagrange (EL) systems subject to multiple ball obstacles and velocity constraints in accordance with affordable velocity ranges. A key strategy is to exploit the underlying inner-outer-loop structure for the design of a new cascade controller for the class of EL systems. In particular, the outer-loop controller is developed based on quadratic programming (QP) to avoid ball obstacles and generate velocity reference signals fulfilling the velocity limitation. Taking full advantage of the conservation-of-energy property, a nonlinear velocity-tracking controller is designed to form the inner loop. One major difficulty is caused by the possible non-Lipschitz continuity of the standard QP algorithm when there are multiple constraints. To solve this problem, we propose a refined QP algorithm with the feasible set reshaped by an appropriately chosen positive basis such that the feasibility is retained while the resulting outer-loop controller is locally Lipschitz. It is proved that the constraint-satisfaction problem is solvable as long as the ball obstacles satisfy a mild distance condition. The proposed design is validated by numerical simulation and an experiment based on a 2-link planar manipulator. Copyright © 2024, The Authors. All rights reserved.

关键词： Quadratic programming

来源：评论

学校读者我要写书评

暂无评论

Enhancing Precision Agriculture Through Human-in-the-Loop Planning and control

Enhancing Precision Agriculture Through Human-in-the-Loop Pl...

引用

IEEE International Conference on automation Science and engineering (CASE)

作者： Shankar A. Deka Sujet Phodapol Andreu Matoses Gimenez Victor Nan Fernandez-Ayala Rufus Wong Pian Yu Xiao Tan Dimos V. Dimarogonas Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems School of EECS Royal Institute of Technology (KTH) Stockholm Sweden Department of Cognitive Robotics Faculty of Mechanical Engineering TU Delft Delft Netherlands Department of Computer Science University of Oxford Oxford UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we introduce a ROS based framework designed for the planning and control of robotic systems within the context of precision agriculture, with an emphasis on human-in-the-loop capabilities. Utilizing Linear Temporal Logic to articulate complex task specifications, our algorithm creates high-level robotic plans that are not only correct by design but also adaptable in real time by human operators. This dual-focus approach ensures that while humans have the flexibility to modify the high-level plan on-the-fly or even take over low-level control of the robots, the system inherently safeguards against any human actions that could potentially breach the predefined task specifications. We demonstrate our algorithm within the dynamic and challenging environment of a real vineyard, where the collaboration between human workers and robots is critical for tasks such as harvesting and pruning, and show the practical applicability and robustness of our software. This work marks a pioneering application of formal methods to complex, real-world agricultural environments.

关键词： Precision agriculture Heuristic algorithms Software algorithms Robustness Human in the loop Software Real-time systems Planning Robots Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

Triggered Mechanism for Strict Feedback Systems Under Unknown control Directions

Triggered Mechanism for Strict Feedback Systems Under Unknow...

引用

Asian control Conference

作者： Guilong Liu Hongda Wu Yongliang Yang Wei Xie Weidong Zhang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper presents an event-based asymptotic tracking control scheme designed for strict feedback systems with unknown control directions. The control directions directly determine how the controller acts on the system, thus impacting the system's stability and convergence speed. When the control directions are unknown, it presents a significant challenge in controller design. To tackle this issue, the Nussbaum-type gains are introduced. However, this method increases communication overhead. Hence, an event-triggered mechanism is introduced to alleviate this burden. Additionally, to achieve and maintain desired target states, satisfying control requirements and performance demands, this paper improves the event-triggered mechanism to achieve asymptotic tracking. Finally, the feasibility and effectiveness of the proposed design are validated through a simulation example.

关键词： Asymptotic stability Target tracking Stability criteria control systems Optimization Convergence

来源：评论

学校读者我要写书评

暂无评论

Temporal Graph Convolutional Network-Based Fault Detection Method for the Two-Wheeled Self-Balancing Robot

Temporal Graph Convolutional Network-Based Fault Detection M...

引用

International Conference on Industrial Artificial Intelligence (IAI)

作者： Yuxiang Hu Peng Yue Hui Liu Jiajun Kang Dongliang Cui Xuewu Dai State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Department of Mathematics Physics and Electrical Engineering Northumbria University Newcastle-upon-Tyne U.K.

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

The fault detection method based on graph neural networks has been widely applied. However, few of these methods consider the dynamic characteristics and prior knowledge of control systems, resulting in limited usage for fault detection in control systems. To address this, this article proposes a fault detection method based on temporal graph convolutional neural network (T-GCN) and multi-layer perceptron (MLP), which is applicable to general linear dynamic control systems. The proposed method first constructs a relational graph based on prior knowledge of the control system and utilizes T-GCN to extract spatio-temporal relationships between various state variables and control input signals within the system. Then, a MLP integrates the extracted information to detect whether the control system has experienced faults. Finally, a two-wheeled self-balancing vehicle is utilized to test the effectiveness of the proposed method. The results demonstrate that the proposed approach could achieve high-precision detection of sensor faults within the system.

关键词： Knowledge engineering Machine learning algorithms Convolution Fault detection Heuristic algorithms control systems Robot sensing systems Graph neural networks Dynamical systems Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Breaking Limitation of Convergence in Continuous Optimization: Predefined-Time Gradient Flows

Breaking Limitation of Convergence in Continuous Optimizatio...

引用

IEEE Conference on Decision and control

作者： Renyongkang Zhang Ge Guo Zhenyu Gao Miao Yu Lu Zhang Zhengsong Wang Meng Han Yanyan Yin College of Information Science and Engineering Northeastern University Shenyang China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao China School of Electrical Engineering Computing and Mathematical Sciences Curtin University Perth Western Australia Australia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper investigates the continuous-time unconstrained optimization via dynamical gradient flow systems. For strongly convex objective functions, a gradient flow with predefined time convergence is proposed, which is suitable for relaxing the objective function to only satisfy the PolyakLojasiewicz ($\mathbf{P}-\mathrm{L}$) condition. A predefined-time convergent Newton’s flow is designed for the minimization of strictly convex functions. The proposed result is extended for strongly convex objective functions with time-varying parameters. In our schemes, the upper bound of convergence time can be used as a prior choice without involving system initialization and complex parameter calculations. The convergence of algorithms is rigorously proved by using the Lyapunov method. Numerical simulation illustrates the effectiveness of the proposed methods.

关键词： Upper bound Linear programming Numerical simulation Minimization Convex functions Optimization Convergence Lyapunov methods

来源：评论

学校读者我要写书评

暂无评论

Distributed Feedback Optimization of Networked Nonlinear Systems Using Relative Output Measurements*

Distributed Feedback Optimization of Networked Nonlinear Sys...

引用

European control Conference (ECC)

作者： Zhengyan Qin Tao Liu Tengfei Liu Zhong-Ping Jiang Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong HKU Shenzhen Institute of Research and Innovation Shenzhen China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Department of Electrical and Computer Engineering New York University Brooklyn NY USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper investigates the distributed feedback optimization problem of nonlinear multi-agent systems. In such systems, each agent can measure the relative outputs between itself and its neighbors but lacks access to their absolute states and internal controller states. By combining distributed optimization and singular perturbation methods, a novel distributed controller design is presented, that relies solely on each agent's real-time gradient values of its local objective function and its relative output measurements to neighboring agents. The boundedness of the closed-loop signals and the convergence of the agent outputs to the minimizer of the total cost are proved rigorously. A numerical example is conducted to validate the effectiveness of the proposed approach.

关键词： Costs Perturbation methods Europe Distributed feedback devices Linear programming Real-time systems Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection

Point, Segment, and Inspect: Leveraging Promptable Segmentat...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Riccardo Franceschini Javier Rodriguez Marquez Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola del Vallès Barcelona Spain Department of Electrical Engineering Automation and Control Group Danish Technical University Lyngby Denmark

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Operating unmanned aerial vehicles (UAVs) for assets inspections poses distinct challenges encompassing the need to maintain a safe distance from the inspection area, ensure correct orientation towards the inspected surface, and achieve comprehensive coverage of the entire surface. Achieving these tasks is inherently complex and stressful. Therefore, a novel approach that seeks to enhance the piloting experience by harnessing the latest advancements in segmentation models, such as Segment Anything Model (SAM), is proposed. These models, thanks to their prompting capabilities, allow seamless communication between the operator and the UAV, opening up the possibility of defining intricate inspection regions through simple interactions. Within this approach, decision-making authority remains with the operator, while the UAV takes on the demanding task of segmenting the designated area and devising an appropriate traversal plan. Throughout this process, the operator’s situational awareness is heightened through visual cues overlaid on the camera stream and a 3D panel presenting information of the drone position and spatially sensed data. This teleoperation framework allows the operator to maintain continuous control of the ongoing operation through a simplified interface. The paper delineates both the system and the methodology employed, showcasing the effectiveness of integrating segmentation models into the decision-making workflow. The validity of the proposed framework is established through testing within a photorealistic UAV simulator along with real experiments in a controlled laboratory environment.

关键词： Visualization Three-dimensional displays Decision making Laboratories Inspection Traveling salesman problems Autonomous aerial vehicles Robot sensing systems Spatial databases Surface treatment

来源：评论

学校读者我要写书评

暂无评论

Prototype of Turbine Propulsion System with controllable Thrust Vector for Long-Range Unmanned VTOL Aircraft 21st

Prototype of Turbine Propulsion System with Controllable Thr...

引用

21st Polish control Conference, PCC 2023

作者： Czyba, Roman Lemanowicz, Marcin Domin, Jaroslaw Grzybowski, Jacek Stępień, Izabela Ungier, Lukasz Rosiek, Radoslaw Bialas, Piotr Niemiec, Michal Department of Automatic Control and Robotics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland Department of Chemical Engineering and Process Design Faculty of Chemistry Silesian University of Technology ul. Ks. M. Strzody 7 Gliwice44-100 Poland Department of Mechatronics Faculty of Electrical Engineering Silesian University of Technology ul. Akademicka 10a Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The aim of the project was to build a prototype of a turbine drive with a controllable thrust vector for a long-range vertical take-off and landing (VTOL) aircraft. The construction of the prototype required the development of a vectoring system for the tail propulsion system and a dedicated VTOL aircraft stabilization and control system. The prototype of the turbine drive system was based on energy-efficient electric motors. Research also involved modeling the turbine propulsion aerodynamics with usage of computational fluid dynamics (CFD) analysis. As a result of the design stage, a prototype of the propulsion system was created, on which flight tests were carried out. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computational fluid dynamics

来源：评论

学校读者我要写书评

暂无评论

Dynamic Event-Triggered Quadratic Nonfragile Filtering for Non-Gaussian Systems:Tackling Multiplicative Noises and Missing Measurements

引用

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1127-1138页

作者： Shaoying Wang Zidong Wang Hongli Dong Yun Chen Guoping Lu College of Science Shandong University of AeronauticsBinzhou 256603China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590 Department of Computer Science Brunel University LondonUxbridge UB83PHUK Artificial Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318China School of Automation Hangzhou Dianzi UniversityHangzhou 310018China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper focuses on the quadratic nonfragile filtering problem for linear non-Gaussian systems under multiplicative noises,multiple missing measurements as well as the dynamic event-triggered transmission *** multiple missing measurements are characterized through random variables that obey some given probability distributions,and thresholds of the dynamic event-triggered scheme can be adjusted dynamically via an auxiliary *** attention is concentrated on designing a dynamic event-triggered quadratic nonfragile filter in the well-known minimum-variance *** this end,the original system is first augmented by stacking its state/measurement vectors together with second-order Kronecker powers,thus the original design issue is reformulated as that of the augmented ***,we analyze statistical properties of augmented noises as well as high-order moments of certain random *** the aid of two well-defined matrix difference equations,we not only obtain upper bounds on filtering error covariances,but also minimize those bounds via carefully designing gain ***,an example is presented to explain the effectiveness of this newly established quadratic filtering algorithm.

关键词： filtering quadratic bounds

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：