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2024 china automation Congress, CAC 2024

作者： Zhou, Yan Xiong, Yonghua School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798350368604

The widespread application of unmanned aerial vehicle (UAV) has made the coverage path planning problem for multiple UAV systems a research hotspot. In this paper, we propose a multi-UAV solution to achieve complete coverage of multi-region. Based on this solution, we present an improved particle swarm optimization (PSO) algorithm that combines PSO algorithm, greedy strategy, and back-and-forth (BAF) algorithm. Its purpose is to plan the optimal paths for multi-UAV while achieving the shortest total distance and the highest UAV cooperation efficiency with the minimum number of UAVs, thereby enhancing the multi-UAV coverage cooperation and path optimization capabilities. Simulation results demonstrate the feasibility and superiority of this algorithm. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

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Journal of Bionic Engineering 2022年第5期19卷 1334-1348页

作者： Lingjie Gai Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending *** device consists of soft gripper structures and a soft bionic bracket *** adopt the local thin-walled design in the soft gripper *** design improves the grippers’bending efficiency,and imitate human finger’s segmental bending *** addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing *** to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping ***,to grasp small objects reliably,we further present a new Pinching Grasping(PG)*** great performance of the fully SBGD is verified by *** work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

关键词： Fully soft bionic grasping device Local thin-walled grippers Soft bionic bracket Adjust grasping range automatically Segmental bending shape New pinching grasping method

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Containment control of Multi-Agent systems with Stochastic Multiplicative Noises

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Journal of systems Science & complexity 2022年第3期35卷 909-930页

作者： REN Junhao ZONG Xiaofeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied *** on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure ***,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure *** is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent *** examples are also introduced to illustrate the effectiveness of the theoretical results.

关键词： Containment control multi-agent system multiplicative noises stochastic system

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A modular four-modal soft grasping device

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Science china(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

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Multiscale Feature Fusion Module for Prohibited Item Detection 9

Multiscale Feature Fusion Module for Prohibited Item Detecti...

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9th International Conference on intelligent Computing and Signal Processing, ICSP 2024

作者： Xu, Ruiqi Zhang, Chirui School of Automation China University of Geosciences Hubei Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China

ISBN: (纸本)9798350376548

X-ray security check is a prevalent placement measure that plays a vital role in ensuring public safety. However, detecting prohibited items poses a complex challenge due to their variable sizes within X-ray images. In this study, we tackle this issue by curating a novel dataset through the integration of open-source data and introducing a Multiscale Feature Fusion Module. This module facilitates robust detection by amalgamating features across different scales. Extensive experiments verified that the superiority of our method compared to existing methods on the prohibited items test set constructed in this paper demonstrates extremely well the practical effectiveness of our proposed method. © 2024 IEEE.

关键词： component Environmental Security Prohibited Items Security Inspection X-ray Images

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LRDE:Long-Range Dependency and Salient Feature Enhancement for Co-SOD 41

LRDE:Long-Range Dependency and Salient Feature Enhancement f...

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第41届中国控制会议

作者： LongSheng Wei SiYuan Guo GuanYu Zong Jiu Huang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Different from other salient object detection(SOD) for the task of extracting salient obj ects in a image,collaborative saliency object detection(Co-SOD) targets a set of related image groups,and uses algorithms to find and locate the common collaborative salient objects in related image *** current SOD has achieved remarkable results,but most of the previous researches focus on how to obtain the consistency between images,while the contextual semantic information of images and the features of salient objects are less *** solve these problems,we propose a novel network to capture long-range dependencies on images and enhance(LRDE) the representation of salient ***,In LRDE,we capture the longrange dependencies by the Non-local module to obtain contextual semantic ***,in order to highlight the features of salient objects and enhance the representation of salient objects,we propose the Coordinate Attention module,which embeds the location-attention channel attention and encodes the feature maps as orientation-aware and position-aware attention maps,and It is applied complementary to the input feature map,thereby enhancing the representation of salient *** show that the method outperforms twelve improved methods on four publicly available datasets.

关键词： Co-SOD Long-Range Dependency Feature Enhancement Non-local Module Coordinate Attention Module

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Tea Picking Path Planning Based on Ant Colony Algorithm 41

Tea Picking Path Planning Based on Ant Colony Algorithm

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第41届中国控制会议

作者： Guangjun Wang Yi Zhao Zhi Wang Yangzheng Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In order to improve the efficiency of tea picking,a scheme combining ant colony algorithm and tea picking technology is proposed to plan the picking *** this scheme,k-means clustering algorithm is used to divide the tea picking regions with irregular *** ant colony algorithm is used to carry out path planning for tea in different picking areas,and the best picking effect is selected according to the simulation *** solve the problem of long searching time of ant colony algorithm,the condition of iteration termination is changed to adaptive value,and the optimal route after the last iteration is recorded as the initial value of the next *** simulation results show that the best effect is to divide two picking *** improved ant colony algorithm reduces the operation time and the planned picking path is shorter,which can enhance the real-time tea picking and improve the efficiency of tea picking.

关键词： Tea plucking Path planning Ant colony algorithm K-means clustering

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A short-circuit fault ride-through method based on adaptive dual-mode control of grid-forming inverters

A short-circuit fault ride-through method based on adaptive ...

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2023 IEEE PELS Students and Young Professionals Symposium, SYPS 2023

作者： Huang, Dingbang Fang, Zhijian Zhang, Sheng Li, Xuan Wei, Zihao Jin, Liangwei China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex SystemsWuhan China Wuhan China

ISBN: (纸本)9798350307832

With the outbreak of environmental problems and energy crisis, human beings are exploring new energy sources more and more deeply. As the installed capacity of energy storage devices increases and the coverage of distributed energy storage systems becomes more and more extensive, the power grid puts forward higher requirements on its fault ride-through capability. To address this problem, this paper investigates the short-circuit fault ride-through technology of grid-forming inverter systems and proposes a control scheme for switching between grid-forming and grid-following systems. The scheme can switch to grid-following control model when a fault occurs in the grid, and then switch back to grid-forming system when the short-circuit fault is repaired, thus ensuring the stable operation of the power system and controlling the current value during the short-circuit fault to prevent over-current situation. Finally, the effectiveness of the proposed control strategy is further verified by combining MATLAB/Simulink simulations and experiments. © 2023 IEEE.

关键词： Timing circuits

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Tea Bud Recognition Based on Machine Learning 41

Tea Bud Recognition Based on Machine Learning

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第41届中国控制会议

作者： Guangjun Wang Zhi Wang Yi Zhao Yangzheng Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Due to the low efficiency and high cost of manual tea picking,as well as the development and application of machine vision and image recognition technology,the mechanization and intelligence of tea picking will become a *** of all,this paper analyzed the advantages and disadvantages of several common target detection methods by using Matlab ***,considering cost,accuracy and real-time performance,the method of combining K-means clustering and image morphology processing is finally selected to extract tea ***,the method is reproduced on STM32 single chip ***,the effect was verified in the actual tea garden,which laid a foundation for the subsequent intelligent picking.

关键词： Machine learning K-means clustering STM32

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