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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Ren, Xing Kou, Jiange Cao, Yuanchao Guo, Qing Chen, Zhenlei Shi, Yan Li, Tieshan University of Electronic Science and Technology of China School of Automation Engineering Chengdu611130 China School of Automation Science and Electrical Engineering Beijing100191 China University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu611130 China

ISBN: (纸本)9798350316339

This paper proposes a fixed-time fault-tolerant controller for n-DOF robotic manipulators with actuator partial loss of effectiveness (LOE) faults, external disturbances, and unknown nonlinearities. A novel fixed-time extended state observer (FxTESO) is designed to estimate joint velocities and lumped uncertainty, and the estimation error can theoretically be arbitrarily small by increasing the bandwidth. An adaptive law is designed to estimate an upper bound related to FxTESO error, which can enhance the controller robustness. The proposed controller can guarantee practical fixed-time stability of the manipulator, and require no velocity measurement and prior information about lumped uncertainty. The comparative experiments with the other state-of-the-art controllers on a 4DOF manipulator under different external disturbances and actuator faults verify the superiority of the proposed controller. © 2024 IEEE.

关键词： State estimation

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Research on Dynamic Characteristics of Fuel Cell Stack with a Hybrid Quasi-2D Equivalent Circuit Model 49

Research on Dynamic Characteristics of Fuel Cell Stack with ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Yin, Cong Yu, Jun Luo, Yuqin Liu, Yu Xie, Guangyou Wang, Renkang Fan, Hongwei Tang, Hao School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Chengdu China

ISBN: (纸本)9798350331820

The degradation issues significantly restrict the automotive application of proton exchange membrane fuel cell (PEMFC), while the dynamic characteristics of PEMFC stack with multiple cells play a critical role in fuel cell's lifetime and reliability. But it is challenging to efficiently and accurately predict the multi-cell voltages and performance uniformity under dynamic fuel cell operations due to the complex structure and multi-physical processes inside the stack. In this paper, we develop a hybrid quasi-2D equivalent circuit model to study the nonuniform dynamic characteristics of PEMFC stack. The 140-cell PEMFC stack with active area of 406 cm2 are experimentally studied under various load changing processes to validate the proposed model. The proposed multi-cell equivalent circuit network could reproduce the dynamic cell voltage distributions with the error less than 15 mV (2.1%) under varied operating conditions. The efficient prediction of dynamic cell voltage distributions of the stack is beneficial for control strategy optimization of fuel cell loading operations and improved stack lifetime. © 2023 IEEE.

关键词： Equivalent circuits

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Real-Time Monitoring of Meteorological Data at In-Situ GCW Remediation Sites

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Journal of Geoscience and Environment Protection 2024年第9期12卷 152-166页

作者： Qinghai Wu Xiaofeng Yang Jun Liu Ruiqi Wang Quanyou Fu College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu China

To optimize the self-organization network, self-adaptation, real-time monitoring, remote management capability, and equipment reuse level of the meteorological station supporting the portable groundwater circulation wells, and to provide real-time and effective technical services and environmental data support for groundwater remediation, a real-time monitoring system design of the meteorological station supporting the portable groundwater circulation wells based on the existing equipment is proposed. A variety of environmental element information is collected and transmitted to the embedded web server by the intelligent weather transmitter, and then processed by the algorithm and stored internally, displayed locally, and published on the web. The system monitoring algorithm and user interface are designed in the CNWSCADA development environment to realize real-time processing and analysis of environmental data and monitoring, control, management, and maintenance of the system status. The PLC-controlled photovoltaic power generating panels and lithium battery packs are in line with the concept of energy saving and emission reduction, and at the same time, as an emergency power supply to guarantee the safety of equipment and data when the utility power fails to meet the requirements. The experiment proves that the system has the characteristics of remote control, real-time interaction, simple station deployment, reliable operation, convenient maintenance, and green environment protection, which is conducive to improving the comprehensive utilization efficiency of various types of environmental information and providing reliable data support, theoretical basis and guidance suggestions for the research of groundwater remediation technology and its disciplines, and the research and development of the movable groundwater cycling well monitoring system.

关键词： Groundwater Circulation Well Weather Station Real-Time Monitoring Embedded Web Server

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Multi-Terrain Adaptive Control for Knee Exoskeletons: Development and Experimental Evaluation

Multi-Terrain Adaptive Control for Knee Exoskeletons: Develo...

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2024 China automation Congress, CAC 2024

作者： Qiu, Jing Dong, Liang Guo, Ran He, Yulong Cheng, Hong Li, Wenjiang School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Sichuan Province Chengdu China School of Automation Engineering University of Electronic Science and Technology of China Sichuan Province Chengdu China

ISBN: (纸本)9798350368604

Lower limb augmented exoskeletons (LLAE) could potentially be used in some domains (e.g. logistics) to enhance human walking ability. For walking with LLAE on different terrains, precise and flexible control strategies of LLAE are required to achieve smooth and natural motion transitions. However, previous control algorithms for LLAE are mainly developed for flat terrains, so the LLAE cannot be effectively used in work environments with other terrains such as slopes and stairs. Therefore, a multi-terrain adaptive assist algorithm based on parametric dynamic motion primitives (PDMPs), which can adaptively adjust assist torques according to terrain types, was developed in this paper to solve the above problems. The algorithm obtains the mapping relationship between the assistance sub-model and terrain slope for each terrain by polynomial fitting, thus modelling the multi-terrain adaptive assist algorithm based on PDMPs. The model is evaluated using a generalized validation method and the results show that the peak error in torques prediction of the model is less than 5%. To further validate the effectiveness of the proposed algorithm, it was verified on a homemade LLAE and the experimental results showed that the proposed multi-terrain adaptive assist algorithm was able to reduce the human body’s motion consumption by about 5%, which can facilitate the exoskeleton system to achieve the human-exoskeleton cooperative control. © 2024 IEEE.

关键词： Exoskeleton (Robotics)

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Enhancing Dynamic Parameter Identification for Supernumerary Robotic Limbs through Uncertainty Compensation

Enhancing Dynamic Parameter Identification for Supernumerary...

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2024 China automation Congress, CAC 2024

作者： Chen, Lufeng Lan, Jingwen Zhan, Qi'ao Peng, Zhinan Li, Wenjiang Qiu, Jing Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Center for Robotics School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9798350368604

Accurate dynamic modeling is fundamental for wearable robotics, such as Supernumerary Robotic Limbs (SRLs), to ensure precise control and effective interaction with the environment. This paper presents an enhanced dynamic model for an SRL, incorporating uncertainty compensation to improve accuracy and robustness. The SRL dynamics are streamlined by linearizing the system and identifying a minimal set of inertia parameters. Using the Coot optimization algorithm, we refine the Fourier excitation trajectory parameters to optimize the condition number of the observation matrix, followed by parameter identification through the least squares method. To further reduce discrepancies between predicted and actual joint torques, an uncertainty term is introduced, validated through a neural network designed to predict torque variations. The method not only addresses but also compensates for uncertainties across various motion states of the SRL. Experimental results demonstrate that the proposed model improves prediction accuracy and robustness for our developed 6-DoF SRL compared to traditional methods. © 2024 IEEE.

关键词： Least squares approximations

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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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Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 956-964页

作者： Li-Ying Hao Gege Dong Tieshan Li Zhouhua Peng the School of Marine Electrical Engineering Dalian Maritime UniversityDalian 116026China the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731the Navigation CollegeDalian Maritime UniversityDalian 116026 the Yangtze Delta Region Institute(Huzhou) Huzhou 313001China

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external *** surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to *** reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency *** nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external *** using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of *** with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance ***,the comparison results through simulations are given to verify the effectiveness of the proposed method.

关键词： Actuator faults autonomous surface vehicle(ASVs) improved artificial potential function nonlinear state observer obstacle avoidance

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Analysis on Insulation Fault of Capacitor in 10kV Reactive Power Compensation Device 2

Analysis on Insulation Fault of Capacitor in 10kV Reactive P...

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2nd Asia Power and Electrical technology Conference, APET 2023

作者： Zeng, Chaoxu Yang, Bowen Chen, Tianxiang Yang, Longshan Wang, Meng Chen, Long Yang, Sen College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu China Jianyang Power Supply Company State Grid Chengdu China

ISBN: (纸本)9798350359428

Capacitor reactive power compensation plays an important role in improving system voltage stability, reducing transmission line losses and substation losses. In this paper, for the 10kV system of a 220kV substation, the capacitor external fuse protection all melted and the body burned accident, based on the faulty capacitor deconstruction, analyzed the main reasons for the capacitor insulation damage and the reasons for the expansion of the fault, calculation and analysis of the capacitor imbalance protection found that the setting value is unreasonable. Through the simulation software PSCAD/EMTDC to reproduce the fault process, the cause of the fault is verified, and finally to avoid the recurrence of the fault puts forward the corresponding processing recommendations. © 2023 IEEE.

关键词： Electric power transmission

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Design of Attention Prediction System Based on EEG Signal Analysis 13

Design of Attention Prediction System Based on EEG Signal An...

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13th International Conference on Control, automation and Information Sciences, ICCAIS 2024

作者： Sun, Chenyang Yang, Zhicheng Yang, Lujia Wang, Wei Wang, Xiepei Lu, Mingli School of Electrical and Automation Engineering Changshu Institute of Technology Suzhou China School of Engineering in Electrical Engineering and Automation Southwest Jiaotong University Chengdu China School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou China

ISBN: (纸本)9798331542047

Electroencephalogram (EEG) signals are crucial in understanding brain activity, particularly in assessing attention levels, and are vital for various cognitive functions and daily activities. This study presents the design of an attention-level prediction system utilizing EEG signal analysis, employing Long Short-Term Memory (LSTM) networks enhanced by Particle Swarm Optimization (PSO). The system collects EEG data through non-invasive single-channel devices and processes these signals to predict attention levels using an LSTM model. To address the challenge of optimal parameter selection in LSTM, the PSO algorithm is integrated, significantly improving prediction accuracy. Experimental results demonstrate that the PSO_LSTM model outperforms traditional LSTM networks in terms of accuracy, convergence speed, and robustness. The proposed system not only enhances the predictive performance of attention levels but also provides a scalable approach for real-time applications in fields such as education, healthcare, and human-computer interaction. This study highlights the potential of combining EEG signal analysis with advanced machine learning techniques for more effective attention monitoring. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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Flake channels construction of hydroxyapatite/gelatin cryogel with excellent flame retardant properties for enhancing the capturing of iodine

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Collagen and Leather 2024年第1期5卷 101-112页

作者： Yanxia Wei Bo Wang Liyan Cao Xin Cheng Yuhan Qiao Tao Duan Guiqiang He Pingping Ding Yan Zhou Jian Zhou Engineering Research Center of Biomass Materials School of Life Science and EngineeringMinistry of EducationSouthwest University of Science and TechnologyMianyang 621010SichuanPeople's Republic of China The Collelge of Nuclear Technology and Automation Engineering Chengdu University of TechnologyChengdu 610059SichuanPeople's Republic of China NHC Key Laboratory of Nuclear Technology Medical Transformation Mianyang Central HospitalMianyang 621000SichuanPeople's Republic of China

Safe and efficient capturing of volatile radioiodine is of extremely important significance in the treatment of spent ***,the flake channels in gelatin-hydroxyapatite(HAP@Ge)cryogel with excellent flame retardant properties were constructed by immobilizing hydroxyapatite nanorods(HAP)on Gelatin(Ge)cryogel for enhancing the capturing of *** immobilization of HAP nanorods enhanced thermal stability,provided low rates of dynamic heat transfer and dissipation,and remarkably improved the flame retardant and smoke suppression properties of the Ge cryogel,which can effectively prevent the occurrence of safety incidents caused by further thermal degradation or combustion of this *** importantly,it was effective in improving the rapid enrichment of iodine,resulting in a high adsorption *** maximum adsorption capacity of HAP@Ge cryogel for iodine vapor reached 2693 mg/g at *** high adsorption capacity for iodine was attributed to the multi-scale porous structure in HAP@Ge cryogel,which offered effective channels for iodine diffusion,whereas the numerous complex and irregular flakes provided sufficient number of active sites for iodine *** adsorption process was chemical in nature and involved the-PO_(4)^(3-),-OH,-C=O,and-NHR groups on HAP@Ge ***,the complex porous structure of HAP@Ge cryogel enhanced the physical capturing of *** advantages,such as low-cost raw material,simple preparation method,good flame retardancy,and excellent capturing performance for iodine indicated that HAP@Ge cryogel is a potential candidate for the removal of radioactive iodine in the exhaust gas stream of post-treatment plants.

关键词： Gelatin Hydroxyapatite nanorod Flake channel Flame retardancy Iodine capture

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