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43rd Chinese control Conference, CCC 2024

作者： Si, Fengfei Fang, Yiming Ju, Hao Zhao, Dongliang Xin, Jingliang Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University Eng. Res. Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Qinhuangdao066004 China Tangshan Branch Hbis Company Limited Tangshan063016 China

ISBN: (纸本)9789887581581

The detection of the target board of ladle nozzle positioning is the basis of automatic loading and unloading of ladle nozzle by ladle robot in continuous casting. Due to the complex situation of high temperature, dust, backlight and so on, the target board of ladle nozzle positioning is prone to false detection or low detection accuracy, and it is difficult to take into account the contradiction between rapidity and detection accuracy. Therefore, this paper proposes an improved lightweight algorithm GVP-YOLOv5 (YOLOv5 with GhostNet, VoVGSCSP and Pruning), which takes into account both detection accuracy and rapidity, to detect the target board for ladle nozzle positioning. Firstly, Ghost module is used to improve the backbone network of YOLOv 5 as the backbone feature extraction network to reduce the number of parameters and calculation of the backbone. Then in the neck, the GSConv module is used to design a thin neck structure, which can ensure the multi-scale feature fusion capability and further reduce the complexity of the network. Finally, the model pruning technology is used to prune the whole model, and the channels with small scaling factor are removed to compress the model to the greatest extent, so as to meet the requirements of industrial field application deployment. The experimental results show that the lightweight GVP-YOLOv5 algorithm proposed in this paper can complete the real-time detection of the target board in complex industrial scenarios. Compared with the original YOLOv5s algorithm, the number of parameters in the model is reduced by 82.6 %, and the size of the model is significantly reduced to 19.4 %. At the same time, the detection accuracy is maintained at more than 95 % on mAP @ 50: 95 and the detection speed is effectively improved. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Continuous casting

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Unilateral payoff control is infeasible in network attack-defense interactions

Unilateral payoff control is infeasible in network attack-de...

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2024 China Automation Congress, CAC 2024

作者： Zhao, Kaiwen Xia, Yu Su, Qi Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350368604

Network resilience generally refers to the ability of a network to maintain normal operation in the face of various failures and disturbances, which has many applications in social, financial, communication, and transportation systems. There is a large amount of research on designing strategies to disrupt the network from the perspective of attack and to protect the network from the defense standpoint. However, attacks and defenses in the real world often occur simultaneously and repeatedly. The study of network resilience should not be limited to the structural characteristics but should consider the functional characteristics of the network. We develop a general game-theoretic framework to study attack-defense repeated interactions on complex networks and examine the possibility of achieving precise control over the payoffs of attackers and defenders. Our findings reveal that neither the attacker nor the defender can unilaterally control their own payoff, the opponent’s payoff, or any linear combination thereof. This work highlights the limitations of unilateral payoff control in real-world interaction scenarios, a consideration often overlooked in numerous theoretical studies. © 2024 IEEE.

关键词： Economic and social effects

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ST-Petri: A Visual Executable Semantic Model for PLC Structured Text Language 22

ST-Petri: A Visual Executable Semantic Model for PLC Structu...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Hu, Xiaoyu Liang, Yonghui Zhu, Shibo Li, Hui Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

As very important controllers in automated factories, the correctness and safety of Programmable Logic controller (PLC) and their programs determine the stability of the production process. Structured Text (ST) is one of the most widely used PLC programming languages. However, there are not enough formal semantics and different venders may have their own implementations. In this work, a visual executable semantic model ST-Petri for ST has been proposed. The model uses Petri nets to formally represent ST semantics while using graphs to visualise program control flow. To validate the correctness of the semantic model, we use programs from Github and mutations of existing source programs as a test set to execute and compare the results with the open source OpenPLC platform. Experimental results show that ST-Petri has significant advantages in terms of compilation pass rate and error indication as a semantic model and a ST program compiler. © 2024 IEEE.

关键词： Petri nets

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Prediction of NO_(x)concentration using modular long short-term memory neural network for municipal solid waste incineration

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Chinese Journal of Chemical engineering 2023年第4期56卷 46-57页

作者： Haoshan Duan Xi Meng Jian Tang Junfei Qiao Faculty of Information Technology Beijing University of TechnologyBeijing 100124China Beijing Laboratory of Smart Environmental Protection Beijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing 100124China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Beijing 100124China

Air pollution control poses a major problem in the implementation of municipal solid waste incineration(MSWI).Accurate prediction of nitrogen oxides(NO_(x))concentration plays an important role in efficient NO_(x)emission *** this study,a modular long short-term memory(M-LSTM)network is developed to design an efficient prediction model for NO_(x)***,the fuzzy C means(FCM)algorithm is utilized to divide the task into several sub-tasks,aiming to realize the divide-and-conquer ability for complex ***,long short-term memory(LSTM)neural networks are applied to tackle corresponding sub-tasks,which can improve the prediction accuracy of the ***,a cooperative decision strategy is designed to guarantee the generalization performance during the testing or application ***,after being evaluated by a benchmark simulation,the proposed method is applied to a real MSWI *** the experimental results demonstrate the considerable prediction ability of the M-LSTM network.

关键词： Municipal solid waste incineration NO_(x)concentration prediction Modular neural network Model

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Bearing-Based Containment control of Multi-agent systems with Disturbances 7th

Bearing-Based Containment Control of Multi-agent Systems wi...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Duan, Mengmeng Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819733392

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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H8 Consensus control for High-Order Fully Actuated Multi-Agent systems with External Disturbances 3

H8 Consensus Control for High-Order Fully Actuated Multi-Age...

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3rd Conference on Fully Actuated system Theory and Applications, FASTA 2024

作者： Zhang, Qing-Hao Lu, Jun-Guo Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350373691

This paper investigates the problems of H8 consensus control for high-order fully actuated multi-agent systems (HOFAMASs) with external disturbances. By utilizing the characteristics of high-order fully actuated systems (HOFASs), the distributed control protocols are designed, eliminating all nonlinear characteristics of open loop systems while establishing new closed-loop dynamic characteristics. Then, the H8 consensus problems of HOFAMASs are addressed. The corresponding parameters to be designed in the distributed control protocols are given by using linear matrix inequalities (LMIs). A novel multi-spacecraft attitude model is proposed based on HOFASs. An illustrative example of the multi-spacecraft attitude model is given, in order to demonstrate the effectiveness and application of the results proposed in this paper. © 2024 IEEE.

关键词： Multi agent systems

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Energy-Efficient Safety-Aware Scheduling of Real-Time control systems with Burst Tasks 22

Energy-Efficient Safety-Aware Scheduling of Real-Time Contro...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the random dropping of control computing subtasks, resulting in control failures and potential hazards. To address this issue, we propose an energy-efficient safety-aware task scheduling scheme based on mixed-integer programming. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks and adjusts the processor speed based on the dynamic voltage and frequency scaling technology (DVFS), ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called EESASA. Simulation results show that EESASA can minimize the overall cost of control and processor energy while ensuring the safety of the control system and the timely completion of burst computing tasks. © 2024 IEEE.

关键词： Dynamic frequency scaling

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Equilibrium analysis of networked game under best-response dynamics 43

Equilibrium analysis of networked game under best-response d...

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43rd Chinese control Conference, CCC 2024

作者： Xia, Yu Su, Qi Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789887581581

Both coordination, a behavioral pattern where individuals adopt the same behavior as the majority, and anticoordination, a behavioral pattern where individuals choose a behavior different from the majority, are prevalent in social and engineering scenarios. Examples include the spread of social norms or innovations for coordination and the division of labor and traffic congestion for anti-coordination. Exploring the large-scale interacting systems driven by coordination and anticoordination is of great significance in understanding, predicting, and optimizing the evolutionary outcomes. While existing studies have primarily focused on analyzing the convergence of networked systems and evaluating the time to reach equilibrium, our investigation delves into all possible states of a networked system and scrutinizes all equilibrium states. Notably, we observe that the number of equilibrium states increases exponentially with the network size. Accounting for network structure properties, homogeneous networks exhibit more equilibrium states than heterogeneous networks. Furthermore, for specific behavioral switching thresholds, the number of equilibrium states is surprisingly higher than at neighboring switching thresholds. Our work reveals the intricate interplay between evolutionary dynamics, system structure, and behavioral switching thresholds. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Traffic congestion

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Understanding microstructure-property relationships of HPDC Al-Si alloy based on machine learning and crystal plasticity simulation

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Advances in Manufacturing 2024年第3期12卷 497-511页

作者： Qiang-Qiang Zhai Zhao Liu Ping Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai200240People’s Republic of China National Engineering Research Center of Automotive Power and Intelligent Control Shanghai Jiao Tong UniversityShanghai200240People’s Republic of China School of Design Shanghai Jiao Tong UniversityShanghai200240People’s Republic of China

Al-Si alloys manufactured via high-pressure die casting(HPDC)are suitable for a wide range of ***,the heterogeneous microstructure and unpredictable pore distribution of Al-Si high-pressure die castings result in significant variations in the mechanical properties,thus leading to a complicated microstructure-property relationship that is difficult to ***,a computational framework incorporating machine learning and crystal plasticity method is *** framework aims to provide a systematic and comprehensive understanding of this relationship and enable the rapid prediction of macroscopic mechanical properties based on the ***,we select eight variables that can effectively characterize the microstructural features and then obtain their statistical ***,based on 160 samples obtained via the Latin hypercube sampling method,representative volume elements are constructed,and the crystal plasticity fast Fourier transformation method is executed to obtain the macroscopic mechanical ***,the yield strength,elastic modulus,strength coefficient,and strain-hardening exponent are used to characterize the stress-strain curve,and Gaussian process regression models and microstructural variables are ***,sensitivity and univariate analyses based on these machine-learning models are performed to obtain insights into the microstructure-property relationships of the HPDC Al-Si *** results show that the Gaussian process regression models exhibit high accuracy(R^(2) greater than 0.84),thus confirming the viability of the proposed *** results of sensitivity analysis indicate that the pore size exerts the most significant effect on the mechanical ***,the proposed framework can not only be transferred to other alloys but also be employed for material design.

关键词： High-pressure die casting(HPDC) Machine learning Crystal plasticity Aluminum alloys

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Task-Level intelligent Human-Robot Interaction for Assisting Multi-objective Autonomous Grasping Decision with Quadruped Robots

Task-Level Intelligent Human-Robot Interaction for Assisting...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Zhang, Qifan Guo, Jiamin Chai, Hui Zhang, Guoxuan Yang, Zhiyuan Yuan, Ming Zhang, Qin Li, Yueyang Li, Yibin Shandong University School of Control Science and Engineering Jinan China Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China University of Jinan School of Electrical Engineering China

ISBN: (纸本)9798350325706

In hazardous explosive disposal scenarios, the autonomous grasping system of quadruped robots demonstrated limited task-level decision-making capabilities and exhibited minimal human-robot interaction (HRI). This paper proposes a task-level intelligent HRI approach, aiming to assist the quadruped robots making multi-object grasping decisions. Following the principle of natural HRI, we design a control terminal equipped with a touch screen. The control terminal receives the video stream from the robot's primary field of view via a video transmitter. We develop a graphical user interface (GUI) that decodes and displays the image, allowing the operator to interact naturally by touch and select a specific point in the image as the search center point. We employ the shortest Euclidean distance principle, enabling the target recognition module to search around the selected center point. Subsequently, the autonomous grasping system determines the grasping target and initiates the tasks of path planning and grasping detection. Real-world experiments involving multi-target autonomous grasping are conducted to validate the effectiveness of the proposed HRI method and address the challenge of decision making in scenarios with multiple targets. Furthermore, this method can be readily extended to other types of mobile robots. © 2023 IEEE.

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