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54th International Symposium on Robotics, ISR Europe 2022

作者： Reinhold, Jan Elsner, Lukas Meurer, Thomas Automation and Control Group Faculty of Engineering Kiel University Kaiserstraße 2 Kiel24143 Germany

ISBN: (纸本)9783800758920

Monotonous pick-and-place applications in manufacturing are often automated using robots. Depending on the quantity of units, the geometry of the construction, the know-how of the collaborating workers, and the possibility to use external sensors, different approaches are generally implemented. To achieve high accuracy, the in general teached or pose controlled systems must be calibrated or measured at great expense, which limits their flexibility. In this contribution, the placing of bushings or bolts that need to be welded along a curved surface is considered. An approach exploiting the robot’s repeatability to achieve high precision without the need for interference-prone external sensors for pose control is introduced, guaranteeing low setup costs. The introduced robot-assisted automation includes autonomous surface scanning, force-based sensing for surface unevenness, and pose adjustment to ensure that a relative alignment of the bushings or bolts to each other is fulfilled so that further components can be mounted to them. Since the robot performs both the detection and the setting by evaluating its direct kinematics at the same poses, the robot’s repeatability can be exploited, which is significantly more accurate than the absolute accuracy of robots that would have to be utilized if the poses were specified externally by the underlying CAD drawing, as it is usually done in the conventional approaches. The evaluation of the precise setting procedure is performed by using a standard industrial robot Stäubli TX2-90 with UNIVAL DRIVE combined with a force-torque sensor in a real experimental setup. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Robots

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Social Radars: Finding Targets in Cyberspace for Cybersecurity

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 279-282页

作者： Lili Fan Changxian Zeng Yutong Wang Jiaqi Ma Fei-Yue Wang School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Dalian Minzu UniversityDalian 116600China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Department of Civil and Environmental Engineering University of CaliforniaLos AngelesCA 90024 USA IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

INSPIRED by the insight from American political scientist Lasswell, who summarized the environmental role in societal surveillance [1], Schramm coined the term “social radar” [2] as it resembles the activities of radar in collecting and processing information, playing a crucial role in helping humans perceive changes in the internal and external environment and promptly adjusting adaptive behaviors.

关键词： prompt summarized insight

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Category-Level and Open-Set Object Pose Estimation for Robotics

arXiv

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arXiv 2025年

作者： Hönig, Peter Hirschmanner, Matthias Vincze, Markus Automation and Control Institute Faculty of Electrical Engineering TU Wien Vienna1040 Austria

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object. While instance-level methods already excel for opaque and Lambertian objects, category-level and open-set methods, where texture, shape, and size are partially or entirely unknown, still struggle with these basic material properties. Since texture is unknown in these scenarios, it cannot be used for disambiguating object symmetries, another core challenge of 6D object pose estimation. The complexity of estimating 6D poses with such a manifold of unknowns led to various datasets, accuracy metrics, and algorithmic solutions. This paper compares datasets, accuracy metrics, and algorithms for solving 6D pose estimation on the category-level. Based on this comparison, we analyze how to bridge category-level and open-set object pose estimation to reach generalization and provide actionable recommendations. Copyright © 2025, The Authors. All rights reserved.

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Optimizing Indoor Vertical Farming with DDPG Reinforcement Learning: Enhancing control of Nutrient Levels, Climate Conditions, and Plant Health 5

Optimizing Indoor Vertical Farming with DDPG Reinforcement L...

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5th IEEE International Conference on Technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Albert Panggabean, Good Fried Romadhon, Rahmat Lubis, Ramot Joelianto, Endra Institut Teknologi Bandung Doctoral Program in Engineering Physics Bandung Indonesia Institut Teknologi Del Faculty of Informatics and Electrical Engineering Toba Indonesia Institut Teknologi Bandung Engineering Physics Study Program Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Bandung Indonesia

ISBN: (纸本)9798350364743

In indoor vertical farming systems, managing dynamic and complex environments poses significant challenges. Traditional control strategies often fall short in adapting to rapid changes in critical parameters such as nutrient levels, climate conditions, and plant health indicators. To address these challenges, this paper presents a novel approach for optimizing indoor vertical farming using Deep Deterministic Policy Gradient (DDPG), a reinforcement learning algorithm well-suited for environments with continuous action spaces. Our study focused on the control and monitoring of key parameters, including nutrient levels (pH and EC), climate conditions (temperature, humidity, light, and CO2 levels), and plant health indicators (biomass accumulation and leaf size structure). By defining a comprehensive state and action space, we simulated an indoor farming environment and trained the DDPG model to maximize crop yield and health. © 2024 IEEE.

关键词： DDPG indoor vertical farming precision agriculture reinforcement learning smart farming

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Bearing fault signal detection based on whale algorithm to optimize stochastic resonance parameters 34

Bearing fault signal detection based on whale algorithm to o...

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第34届中国控制与决策会议

作者： Huang Weichao Zhang Ganggang Faculty of automation and Information Engineering Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781665478977

Aiming at the problem that the traditional stochastic resonance system cannot adaptively adjust the structural parameters in the bearing fault signal detection,this paper proposes a parameter adaptive stochastic resonance bearing fault signal detection method based on the whale optimization *** method is based on the bistable stochastic resonance system model,and the structural parameters of the bistable stochastic resonance are optimized through the adaptive whale algorithm,so that the fault signal is enhanced,and the bearing fault signal detection is *** method was verified by actual bearing fault signals,and a series of comparative experiments were carried *** results show that the method in this paper has a simple model,few algorithm parameters,fast convergence speed,and a large output signal-to-noise ratio of the stochastic resonance system,which can accurately and efficiently detect bearing fault signals.

关键词： Stochastic Resonance Whale Optimization Algorithm Bearing Failure Signal

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Dynamic Memory Event-Triggered Lag Consensus of Multi-UAV Systems With Hybrid Attacks Over Stochastic Switching Topology

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IEEE Transactions on automation Science and engineering 2025年 22卷 16999-17009页

作者： Ji Ma Xiangyong Chen Guanghui Wen Junyi Wang Feng Zhao Jianlong Qiu School of Automation and Electrical Engineering Linyi University Linyi China School of Control Science and Engineering Dalian University of Technology Dalian China School of Automation Southeast University Nanjing China Faculty of Robot Science and Engineering Northeastern University Shenyang China

The lag consensus problem of multi-uncrewed aerial vehicle (UAV) systems under hybrid attacks is investigated in this paper. First, a dynamic memory event-triggered control protocol is proposed for the multi-UAV system whose normal network communication would be hindered by denial-of-service (DoS) attacks. Different from traditional event-triggered mechanisms, we consider both historically transmitted data and dynamic threshold in the dynamic memory event-triggered protocol, and it will make less data transmissions and better control performance. Second, due to the communication structure is not fixed, we establish a switching-topology-based distributed control architecture. In view of the fact that communication delays among agents cannot be ignored, a distributed controller is proposed to achieves lag consensus of the multi-UAV system. And then, an estimator is designed to address the situation which the system state cannot be measured during the control process. Additionally, the practicality of the distributed control scheme is analyzed by ruling out Zeno behavior. Ultimately, the effectiveness and validity of the proposed control scheme are confirmed through a simulation example. Note to Practitioners—The motivation of this paper is the consensus issue of multi-uncrewed aerial vehicle (UAV) systems. In the collaborative operation of existing UAV systems, it is crucial to ensure that UAVs can maintain a certain level of coordination even in the face of hybrid attacks such as denial-of-service (DoS) attacks and deception attacks. This paper delves into the issue of lag consensus in multi-UAV system under hybrid attacks, the proposed dynamic memory event-triggered protocol can be embedded into the control software of the multi-UAV system. And the event-triggered protocol can avoid the drawbacks of continuous communication in traditional consistency control and better conserving resources. In this paper, the dynamic 3-Degrees-Of-Freedom (3DOF) motion model of UAV i

关键词： Autonomous aerial vehicles Switches Event detection Topology Vehicle dynamics Protocols control systems automation Delays Process control

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Improvement of VMD and Compensation Distance for Rolling Bearing Fault Detection Methods 43

Improvement of VMD and Compensation Distance for Rolling Bea...

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43rd Chinese control Conference, CCC 2024

作者： Guo, Kai Xiong, Xin Ma, Jun Kunming University of Science and Technology Faculty of Information Engineering and Automation Kunming650500 China Kunming University of Science and Technology Key Laboratory of Intelligent Control and Application of Yunnan Province Kunming650500 China

ISBN: (纸本)9789887581581

To address the problem of varying detection performance and the lack of universal standards for early fault detection in rolling bearings, a method for early fault detection in rolling bearings based on an improved variational modal decomposition (IVMD) and compensation distance (CD) is proposed from the perspective of constructing performance degradation curves. Firstly, the number of modes K for variational mode decomposition (VMD) is adaptively determined using the estimated signal-to-noise ratio (eSNR) method. Secondly, the probability density function (PDF) distribution of the intrinsic mode function (IMF) obtained from the decomposition is calculated, and the compensation distance (CD) degradation evaluation index is constructed by integrating the inter-class and intra-class distances. Then, a sliding window is used to repair the false fluctuations in the CD degradation index based on linear regression equations and the 3 σ principle, resulting in a sensitive degradation index that accurately characterizes the rolling bearing degradation process Improved Compensation Distance (ICD). Finally, the Chebyshev inequality is used to establish the relationship between the healthy threshold and the ICD index, enabling early fault detection in rolling bearings. Comparative analysis of one set of experiments shows that the proposed method can accurately characterize the degradation process of rolling bearings and effectively detect early faults, providing a new solution for early fault diagnosis of bearings. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Probability density function

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Simulation-Based Metrological Temperature Ensuring and control of the Temperature Field in an Induction Furnace Based on Various Parameters 17

Simulation-Based Metrological Temperature Ensuring and Contr...

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17th International Conference on Computer and automation engineering, ICCAE 2025

作者： Rybar, Jan Emebu, Samuel Sayed, Sayed Yousuf Zarghoon, Sohaibullah Bartalsky, Lukas Onderco, Peter Smetanka, Andrej Matusu, Radek Institute of Automation Informatization and Measurement Slovak University of Technology Faculty of Mechanical Engineering Bratislava Slovakia LUT School of Engineering Science Lappeenranta-Lahti University of Technology Department of Separation Science Lappeenranta Finland Kabul Polytechnic University Faculty of Electro-Mechanic Department of Auto mechanical Engineering Kabul Afghanistan Tomas Bata University in Zlín Faculty of Applied Informatics Department of Automation and Control Engineering Zlín Czech Republic

ISBN: (纸本)9798331533816

Induction heating is widely used in industrial furnaces because of its rapid response time and high energy efficiency. To design and optimize these furnaces, computer-aided simulations are essential. This study aims to develop an accurate temperature field model for a square cross-section steel billet in an induction furnace by leveraging various parameters in COMSOL Multiphysics software. The simulation analysis incorporated temperature dynamics, considering skin depth, temperaturedependent, and constant parameters of the steel billet. The datadriven model was converted into a state-space representation utilizing MATLAB's System Identification Toolbox. This conversion facilitated the design of a Linear Quadratic Regulator (LQR) with integral gain and pole placement. Further, these controllers' performance was analyzed, and controllers were successfully implemented to regulate the temperature field of the billet from initial temperature to reference temperature, utilizing the distributed parameter system control circuit. © 2025 IEEE.

关键词： COMSOL Induction heating MATLAB & Simulink Pole placement and LQR Simulation analysis Temperature field

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Automatic-Scheduling-Integrated Computerized Maintenance Management System for Small and Medium Manufacturing Plant 7

Automatic-Scheduling-Integrated Computerized Maintenance Man...

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7th International Conference on Green Technology and Sustainable Development, GTSD 2024

作者： Tran, Ngoc-Huy Le, Xuan-Thuyen VNU-HCM Faculty of Electrical & Electronics Engineering Department of Control & Automation Ho Chi Minh City Viet Nam VNU-HCM Innovation FabLab Ho Chi Minh City Viet Nam

ISBN: (纸本)9798350386073

Since the onset of the Fourth Industrial Revolution, modern industrial plants have become increasingly complex, leading to a growing demand for specialized information systems to manage their operations. Computerized Maintenance Management System (CMMS) is a popular tool which can be used to manage physical assets maintenance in a factory. While the current implementations of CMMS in small and medium specialized manufacturing plants improves many aspects of maintenance operations such as increased productivity, better planning, there are many enhancements that could be made in term of efficiency, extensibility,... This paper proposes a CMMS solution that, in addition to typical CMMS main features, focus on creating an open interface following ISA-95 for easy integration into other manufacturing management systems and enterprise level software, as well as improving user productivity through the use of automatic scheduling based on Tabu Search algorithm. The results from a plastic manufacturing plant indicate that the proposed solution can significantly reduce scheduling efforts while maintaining scheduling constraints and quality. © 2024 IEEE.

关键词： Smart manufacturing

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Chemical plume tracking using an AUV with UKF based extremum seeking 14

Chemical plume tracking using an AUV with UKF based extremum...

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14th IFAC Conference on control Applications in Marine Systems, Robotics, and Vehicles, CAMS 2022

作者： Von See, Tim Benedikt Meurer, Thomas Greinert, Jens GEOMAR Helmholtz-Center for Ocean Research Kiel Germany Automation and Control Faculty of Engineering Kiel University Germany

Hydrothermal vent areas are unique ecosystems with high productivity and high biodiversity that are subject to ongoing research. Hydrothermal vents form in areas with increased magmatic activity where superheated, mineral rich water leaks from the seafloor. Due to the rapid cooling of the water the metal sulfides precipitate and form a black or white plume that can be sensed several hundred meters away from the vent source. Finding and reliably following such plumes with autonomous underwater vehicles (AUVs) is a challenging task since the plume does not have a smooth concentration gradient but lots of local patches due to the turbulent particle flow. This paper presents an algorithm that combines biology inspired chemotaxis with Unscented Kalman filter (UKF) based extremum seeking control (ESC). The effectiveness is demonstrated by a simulation of a physics-based AUV model in a turbulent 3D Plume model. © 2022 Elsevier B.V.. All rights reserved.

关键词： Biodiversity

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