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10th IEEE International Power Electronics and Motion control Conference, IPEMC 2024 ECCE Asia

作者： Zhang, Gengchen Guo, Hong Xu, Jinquan Wang, Gaoxiang Zhang, Li Jin, Wenbo Zhao, Xiaopeng Liu, Ying Beihang University School of Automation Science and Electrical Engineering Bejing China Southwest China Research Institute of Electronic Equipment Chengdu China Xian Flight Automatic Control Research Institute Xi'an China National Key Laboratory of Science and Technology on Aircraft Control Xi'an China

ISBN: (纸本)9798350351330

In order to solve the problems of long cycle and the difficulty of test, this paper proposes a method of power-in-the-loop motor simulator. Firstly, the topology of the motor simulator is proposed, composed of an interface filtering unit, a motor simulation unit and an energy management unit. Secondly, a discretization method for permanent magnet synchronous motor(PMSM) is designed for DSP control. Thirdly, this paper proposes a method combining quasi-proportional resonance control(QPR) and direct current control to ensure the control accuracy. Finally, the motor simulator is verified by experiments. © 2024 IEEE.

关键词： Permanent magnets

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Vision-Based Fixed-Time Uncooperative Aerial Target Tracking for UAV

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1322-1324页

作者： Peng Sun Siqi Li Bing Zhu Zongyu Zuo Xiaohua Xia the Seventh Research Division Beihang UniversityBeijing 100191China the School of Automation Beijing Institute of TechnologyBeijing 100081China the Department of Electrical Electronic and Computer EngineeringUniversity of PretoriaPretoria 0002South Africa

Dear Editor,In this letter,a vision-based fixed-time control is proposed for an unmanned aerial vehicle(UAV)with actuator saturation to track an uncooperative *** fixed-time control is designed in backstepping *** rel... 详细信息

关键词： Fixed cooperative letter

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Simulation research on Generalized Proportional Integral Observer Based Active Disturbance Rejection control for Coarse Pointing Assembly 8

Simulation Research on Generalized Proportional Integral Obs...

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8th International Conference on Electrical, Mechanical and computer engineering, ICEMCE 2024

作者： Ma, Jijun Guo, Yulong Wang, YuNing Shi, Yongkang Beijing Research Institute of Telemetry Beijing100074 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China Research Institute of Telemetry Beijing China

ISBN: (纸本)9798331506230

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy. © 2024 IEEE.

关键词： Disturbance rejection

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A Unified Planning Model for Microgrids Considering Typical Scenarios and Operational Simulations 3

A Unified Planning Model for Microgrids Considering Typical ...

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3rd Asia Power and Electrical Technology Conference, APET 2024

作者： Su, Mengmeng Peng, Jun Zhang, Yong Li, Min Li, Zhenwei Ban, Mingfei North China Branch of State GRID Corporation of China Beijing China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China College of Computer and Control Engineering Northeast Forestry University Harbin China

ISBN: (纸本)9798350367690

The structure of microgrids and the models considered have a significant impact on the planning and operational outcomes of micro grids. Additionally, micro grids encompass various models of primary equipment, including wind, solar, diesel, and storage, while the demand-side response mechanisms are continually being refined. This necessitates the construction of diverse load types, thereby increasing the complexity of micro grid planning and highlighting the need for further research into microgrid planning models. This paper presents various typical mathematical models for microgrids, employs spectral clustering algorithms to obtain representative scenarios, and constructs a unified planning model for microgrids. Furthermore, it elucidates the model adjustment methods under different planning objectives and conducts case analyses of microgrid planning issues. © 2024 IEEE.

关键词： Microgrids

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Two-Stage Representation Refinement Based on Convex Combination for 3-D Human Poses Estimation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第12期5卷 6500-6508页

作者： Chen, Luefeng Cao, Wei Zheng, Biao Wu, Min Pedrycz, Witold Hirota, Kaoru China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Macau University of Science and Technology Institute of Systems Engineering Taipa999078 China Istinye University Research Center of Performance and Productivity Analysis Istanbul34010 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

In the human pose estimation task, on the one hand, 3-D pose always has difficulty in dividing different 2-D poses if the view is limited;on the other hand, it is hard to reduce the lifting ambiguity because of the lack of depth information, it is an important and challenging problem. Therefore, two-stage representation refinement based on the convex combination for 3-D human pose estimation is proposed, in which the two-stage method includes a dense-spatial-temporal convolutional network and a local-to-refine network. The former is applied to determine the features between each video frame;the latter is used to get the different scales of pose details. It aims to address the difficulty of estimating 3-D human pose from 2-D image sequences. In such a way, it can better use the relations between every frame in the sequence of the pose video to produce more accurate results. Finally, we combine the above network with a block called convex combination to help refine the 3-D pose location. We test the proposed approach on both Human3.6m and MPII datasets. The result confirms that our method can achieve better performance than improved CNN supervision, a simple yet effective baseline, and coarse-to-fine volumetric prediction. Besides, a robustness test experiment is carried out for the proposed method while the input is interrupted. The result verifies that our method shows better robustness. © 2024 IEEE.

关键词： Convolution

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Development of End Multi-Fingered Manipulator with Flexible Device

Development of End Multi-Fingered Manipulator with Flexible ...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Chen, Zenghao Shi, Ran Wu, Pengfei Tao, Sheng Yan, Dan Cui, Ze Shanghai Aerospace Control Technology Institute Shanghai Engineering Research Center of Inertial Shanghai China Shanghai University School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9798350325706

In this study, a flexible grasping terminal manipulator that uses the pneumatic vacuum principle and granular material as its base is given. Pneumatic device and granular material are wrapped in elastic film by the end-effector. Whatever complex shape structure the target object has, the flexible end can change shape and wrap around it to entirely grasp the object, it is easy to operate and effective. Create a model of a multi-finger paw with flexible ends that may be used on other things with form structures in addition to flat objects. The flexible end effector has improved application prospects and practical relevance thanks to the optimized design, which additionally offers high gripping speed, success rate, and stability. © 2023 IEEE.

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Multi-layered access control based auto tuning relational key implications in enterprise-level multi-tenancy

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Multimedia Tools and Applications 2025年第17期84卷 17805-17836页

作者： Henge, Santosh Kumar Rajakumar, R. Prasanna, P. Parivazhagan, A. Hu, Yu-Chen Chen, Wu-Lin Department of Computer Science and Engineering Koneru Lakshmaiah Education Foundation KL University AP Vaddeswaram India Centre for Automation School of Computer Science and Engineering Vellore Institute of Technology Chennai India Department of Computer Science and Engineering Veltech Rangarajan Dr Sagunthala R &D Institute of Science and Technology Chennai India Department of CSE Kalasalingam Academy of Research and Education Tamilnadu Krishnankoil India Department of Computer Science Xitun District Tunghai University No. 1727 Sec. 4 Boulevard Taichung City407224 Taiwan Department of Computer Science and Information Management Providence University Taichung City Taiwan

This article discusses the importance of cloud-based multi-tenancy in private–public-private secure cloud environments, which is achieved through the isolation of end-user data and resources into tenants to ensure data confidentiality and integrity. Maintaining secure access control is a complex and critical task in multi-tenant cloud environments, and researchers have proposed innovative methods for implementing security, privacy, and authenticity. However, several challenges remain. The proposed research addresses these challenges by presenting a layered approach to multi-tenancy in an enterprise-level cloud environment. The study has three main objectives: (1) to describe and analyze the complexities of enterprise-based multi-tenancy and proposed technical solutions in a tabular format;(2) to propose multi-tenant test cases across application, software, infrastructure, and network as a service environment;and (3) to present a collaborative, relational optimal key-based multi-tenancy access control model. The proposed access control model involves integrating various secure layers, such as intranet, extranet, intra-extranet, and using feasible relational optimal keys to provide secure multi-tenant access control among various tenants of single and multiple enterprises. This model provides secure data transmission by integrating various multi-layer data filters and secure blades. The layered multi-tenancy approach offers many benefits and technical feasibilities to avoid security and privacy issues in enterprise-based multi-tenant environments. The process achieved a 93% secure mapping rate to authenticate all IN and OUT data access transactions among the various multi-tenancy of similar and distinct enterprises. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Virtualization

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Automation China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

ISBN: (纸本)9781665481090

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). © 2024 IEEE.

关键词： Robotic surgery

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Optimization of Wide-Baseline Stereo Matching Based on Multi-view Geometry

Optimization of Wide-Baseline Stereo Matching Based on Multi...

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2024 China automation Congress, CAC 2024

作者： Xu, Yinhui Shan, Shuo Han, Gongben Fang, Shixiong Zhang, Kanjian Wei, Haikun Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China Shenzhen Research Institute Southeast University Shenzhen China

ISBN: (纸本)9798350368604

Stereo vision plays a crucial role in scientific expeditions and facility maintenance. However, fixed-baseline stereo vision lacks accuracy for long-distance measurements, while wide-baseline stereo vision encounters occlusion issues at short distances. In this study, a wide-baseline stereo matching based on multi-view geometric constraints is proposed. Initially, the camera poses of multiple wide-baseline images are estimated, followed by image rectification and depth estimation. Subsequently, the disparity searching is constrained using geometric relationships among the views, resulting in more precise depth maps. Experiments were conducted to verify the superiority of the proposed method. The results indicate that the proposed method achieves an RMSE as low as 0.15 meters, even with invalid depth points. Compared to traditional stereo vision methods, accuracy is improved by approximately 35%, and robustness is significantly enhanced. In the aircraft runway scenario, overall depth map accuracy is higher, and occluded areas are significantly reduced. © 2024 IEEE.

关键词： Stereo vision

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