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42nd Chinese control Conference, CCC 2023

作者： Yu, Hui Dou, Liqian Zhang, Ruilong Zhang, Xiuyun Cai, Siyuan Tang, Yifan School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Beijing Aerospace Automatic Control Institute Beijing100039 China AVIC xi'An Flight Automatic Control Research Institute Xi'an710065 China

ISBN: (纸本)9789887581543

In this study, a safe adaptive dynamic programming-based method is proposed for the formation control and collision avoidance problem of the multi-UAV systems with the known upper bound of external disturbances. For the position subsystem, an adaptive dynamic programming algorithm is established, using a designed cost function that manages to include uncertainty, tracking error, control influence, and barrier functions. Through the critic network structure with a unique weight learning criterion, the optimal cost function and control strategies are obtained. After attitude resolution, an integral back-stepping controller is established for the attitude subsystem. The simulation experiment is designed to verify the effectiveness of the algorithm. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Collision avoidance

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A case study of virtual CNC machine tool assembly and human-computer interaction techniques 2

A case study of virtual CNC machine tool assembly and human-...

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2023 2nd International Conference on Mechanical, Aerospace Technology and Materials Application, MATMA 2023

作者： Zhang, Tianzhi Bing, Zhigang Chen, Biao Xu, Yu Ming, Rui School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing & Intelligent Control Tianjin GongJiang Double Carbon Research Institute Tianjin300384 China

When it comes to the virtual machine tool assembly process, there are problems such as assembly errors. Based on the general idea of correct assembly, it is proposed to innovate the assembly process by utilizing the enclosing box and separating axis theorem and GJK algorithm, so as to monitor the state of the detection process, which verifies the effective feasibility of the monitoring method and provides a new idea for the assembly process of virtual CNC machine tools. © Published under licence by IOP Publishing Ltd.

关键词： Assembly

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Cascading Delays for the High-Speed Rail Network Under Different Emergencies:A Double Layer Network Approach

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IEEE/CAA Journal of Automatica Sinica 2023年第10期10卷 2014-2025页

作者： Xingtang Wu Mingkun Yang Wenbo Lian Min Zhou Hongwei Wang Hairong Dong School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Control and Computer Engineering North China Electric Power UniversityBeijing 100096China State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China National Research Center of Railway Safety Assessment Beijing Jiaotong UniversityBeijing 100044China

High-speed rail(HSR) has formed a networked operational scale in China. Any internal or external disturbance may deviate trains’ operation from the planned schedules, resulting in primary delays or even cascading delays on a network scale. Studying the delay propagation mechanism could help to improve the timetable resilience in the planning stage and realize cooperative rescheduling for dispatchers. To quickly and effectively predict the spatial-temporal range of cascading delays, this paper proposes a max-plus algebra based delay propagation model considering trains’ operation strategy and the systems’ constraints. A double-layer network based breadth-first search algorithm based on the constraint network and the timetable network is further proposed to solve the delay propagation process for different kinds of emergencies. The proposed model could deal with the delay propagation problem when emergencies occur in sections or stations and is suitable for static emergencies and dynamic emergencies. Case studies show that the proposed algorithm can significantly improve the computational efficiency of the large-scale HSR network. Moreover, the real operational data of China HSR is adopted to verify the proposed model, and the results show that the cascading delays can be timely and accurately inferred, and the delay propagation characteristics under three kinds of emergencies are unfolded.

关键词： Delay propagation double layer network high speed rail network max-plus algebra

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Design and analysis of a novel hybrid cooling method of high-speed high-power permanent magnet assisted synchronous reluctance starter/generator in aviation applications

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Chinese Journal of Aeronautics 2023年第3期36卷 285-302页

作者： Hong GUO Xu HE Jinquan XU Wei TIAN Xiaofeng DING Laicai JU Dehong LI School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100083China Ningbo Innovation Research Institute Ningbo 315800China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China Beijing Shuguang Aviation Electric Co.LTD Beijing 101300China Aviation Industry Helicopter Design and Research Institute Jingdezhen 333001China

To improve the heat dissipation performance,this paper proposes a novel hybrid cooling method for high-speed high-power Permanent Magnet assisted Synchronous Reluctance Starter/Generator(PMa Syn R S/G)in aerospace *** hybrid cooling structure with oil circulation in the housing,oil spray at winding ends and rotor end surface is firstly proposed for the PMa Syn R S/*** the accurate loss calculation of the PMa Syn R S/G is proposed,which includes air gap friction loss under oil spray cooling,copper loss,stator and rotor core loss,permanent magnet eddy current loss and bearing *** parameter sensitivity analysis of the hybrid cooling structure is proposed,while the equivalent thermal network model of the PMa Syn R S/G is established considering the uneven spraying at the winding ***,the effectiveness of the proposed hybrid cooling method is demonstrated on a 40 k W/24000 r/min PMa Syn R S/G experimental platform.

关键词： Air gap friction loss Oil spray cooling Permanent magnet assisted synchronous reluctance starter/generator Thermal analysis Thermal network model

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Failure Prediction Mechanism of Disk Devices Based on LSTM 2

Failure Prediction Mechanism of Disk Devices Based on LSTM

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2nd Asia-Pacific Conference on Communications Technology and computer Science, ACCTCS 2022

作者： Xu, Zhenpeng Ma, Jinwei Liu, Yu Jiangsu Automation Research Institute Department of Computer Lianyungang China School of Computer Engineering Weifang University Weifang China

ISBN: (纸本)9781665400343

In order to reduce the impact of the disk device failure on the information system performance fluctuation and business services, a disk device failure prediction mechanism based on LSTM is proposed based on the disk state feature extraction and neural network model. Firstly, based on the SMART information, the performance data and the function attenuation characteristics of the disk, the characteristic index of the disk device is selected and extracted. Then, a disk device failure prediction mechanism is established based on the improved LSTM by using the characteristic index as the training set. Finally, the active failure prediction of disk device was developed. Performance analysis shows the failure prediction mechanism of disk device proposed can obtain online prediction function through the data pre-processing methods such as SMART data item selecting, disk loss feature construction, the data item cleaning, and the sample standardization. The proposal is superior to the traditional neural network model in terms of the error square sum and correction decision coefficient. © 2022 IEEE.

关键词： Feature extraction

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Disagreement and Antagonism in Signed Networks: A Survey

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1166-1187页

作者： Yuxin Wu Deyuan Meng Zheng-Guang Wu Seventh Research Division Beihang University(BUAA)and also with the School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100191China National Laboratory of Industrial Control Techno-logy Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China IEEE

Signed networks refer to a class of network systems including not only cooperative but also antagonistic interactions among *** to the existence of antagonistic interactions in signed networks,the agreement of nodes may not be established,instead of which disagreement behaviors generally *** paper reviews several different disagreement behaviors in signed networks under the single-integrator linear dynamics,where two classes of topologies,namely,the static topology and the dynamic topology,are *** the static signed networks with the adjacency weights as(time-varying)scalars,we investigate the convergence behaviors and the fluctuation behaviors with respect to fixed topologies and switching topologies,respectively,and give some brief introductions on the disagreement behaviors of general time-varying signed ***,several classes of behavior analysis approaches are also *** the dynamic signed networks with the adjacency weights as transfer functions or linear time-invariant systems,we show the specific descriptions and characteristics of them such that the disagreement behaviors can be obtained by resorting to the derived static signed ***,we give their applications to the behavior analysis of static signed networks in the presence of high-order dynamics or communication delays.

关键词： Antagonistic interaction disagreement behavior dynamic topology signed network static topology

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Skeleton-based Action Recognition Using Two-stream Graph Convolutional Network with Pose Refinement 41

Skeleton-based Action Recognition Using Two-stream Graph Con...

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第41届中国控制会议

作者： Biao Zheng Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota 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 Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point coordinates entering into the network are barely refined,which may cause large ***,the second-order information(the length and direction of bones),which can reflect action characteristics discriminatively,is rarely *** solve the above issues,a two stream graph convolutional network with pose refinement for skeleton based action recognition is ***,we use an adaptive block to to help improve the *** test our method on Kinetics dataset and the experiment show it can get better results than some recent methods,which plays a positive role in future research.

关键词： Graph convolutional network Pose refinement Skeleton based action recognition Adaptive block

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A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-Guo WU Guang-Ren DUAN Yu WANG Jie ZHANG School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen) HIT Wuhu Robot Technology Research Institute Center for Control Science and Technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

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