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Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), CAA Symposium on

作者： Yiqi Liu Zhi Li Hongtian Chen Key Laboratory of Autonomous Systems and Networked Control Ministry of Education The School of Automation Science & Engineering South China University of Technology Guangzhou China Department of Automation Shanghai Jiao Tong University Shanghai China

As the chemical processes become more and more complicated, it is crucial but also difficult to detect and diagnose faults in the system than ever. With the development of machine learning algorithms and cloud computing, to monitor chemical processes completely with the help of big data become true. However, most machine learning methods suffer from unexplainable problem. By employing Explainable Artificial Intelligence(XAI) techniques, this paper applies two kinds of unsupervised machine learning methods, One-Class Support Vector Machine and Depth-based Isolation Forest Feature Importance, to detect and diagnosis faults in a chemical process. By combining two different fault explanation methodologies, accuracy and reliability of the fault diagnosis results can be achieved by the validation in a simulated continuous stirred tank reactor.

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A Telepresence-Guaranteed control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1015-1025页

作者： Jinfei Hu Zheng Chen Xin Ma Han Lai Bin Yao State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China IEEE Ocean College Zhejiang UniversityZhoushan 316021 the State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027 Ocean Research Center of Zhoushan Zhejiang UniversityZhoushan 316021China School of Engineering Technology Purdue UniversityWest LafayetteIN 47907 USA Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong Kong 999077China School of Mechanical Engineering Purdue UniversityWest LafayetteIN 47907 USA

Currently,most teleoperation work is focusing on scenarios where slave robots interact with unknown ***,in some fields such as medical robots or rescue robots,the other typical teleoperation application is precise object ***,the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human ***,due to high cost and limited installation space,it is unreliable to employ a force sensor to directly measure the ***,in this paper,a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object *** this scheme,the workspace mapping between master and slave robot is firstly established,based on which,the operator can generate command trajectory on-line by operating the master ***,a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly,accurately and robust to unmodeled ***,for the sake of telepresence,a master controller is designed to generate force feedback to reproduce the estimated weight of the *** the end,comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence,with accurate force feedback generated in only 500 ms.

关键词： Adaptive robust control teleoperation telepresence transparency weight estimation

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Finite-time coordinated path-following control of leader-following multi-agent systems

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Frontiers of Information technology & Electronic engineering 2022年第10期23卷 1511-1521页

作者： Weibin CHEN Yangyang CHEN Ya ZHANG School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Robot Department Jiangsu Automation Research InstituteLianyungang 222061China

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite *** is assumed that the topology for the virtual leader and followers is *** additional condition of the so-called barrier function is designed to make all agents move within a limited area.A novel continuous finite-time path-following control law is first designed based on the barrier function and *** a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as *** settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

关键词： Finite-time Coordinated path-following Multi-agent systems Barrier function

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Design and application of a one-stop mobile application sharing platform for steel enterprises

Design and application of a one-stop mobile application shar...

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第42届中国控制会议

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz 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

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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Multi-Agent Coverage control on Surfaces Using Conformal Mapping

arXiv

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arXiv 2024年

作者： Zhai, Chao Wu, Yuming School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments. This paper explores the transformation of a general surface into a two-dimensional (2D) disk through the construction of a conformal mapping. Multiple agents are strategically deployed within the mapped convex disk, followed by mapping back to the original surface environment. This approach circumvents the complexities associated with handling the difficulties and intricacies of path planning. Technical analysis encompasses the design of distributed control laws and the method to eliminate distortions introduced by the mapping. Moreover, the developed coverage algorithm is applied to a scenario of monitoring surface deformation. Finally, the effectiveness of the proposed algorithm is validated through numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Conformal mapping

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Blockchain-based Data Integrity and Privacy Protection Method for Swarm Robotics 17th

Blockchain-based Data Integrity and Privacy Protection Metho...

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17th Chinese Intelligent systems Conference, CISC 2021

作者： Li, Bangyin Chen, Yutao Zuo, Zhiqiang Huang, Jie School of Electrical Engineering and Automation Fuzhou University Fuzhou350108 China School of Electrical and Information Engineering Tianjin University Tianjin300072 China Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350108 China

ISBN: (纸本)9789811663192

Swarm robotics realize collaboration through information interaction among robots. One of the key aspects of stable and reliable operation of swarm robotics is protecting the privacy and content of the interactive data. Blockchain has been traditionally applied to digital currency due to its decentralization and high security features. Since robots can serve as a node in blockchain, and both swarm robotics and blockchain share the distributed architecture, there is great potential to apply blockchain technology to ensure the security of interactive data in swarm robotics. In this paper, a brief review of the current studies on the applying blockchain to swarm robotics is given. In addition, a blockchain data protection method is employed to protect the data integrity and privacy of swarm robotics. Finally, a simulation using the swarm robotics simulator and the Ethereum blockchain test network is conducted. Results demonstrate the effectiveness of the proposed method. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Blockchain

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Global scale solar energy harnessing: An advanced intra-hourly diffuse solar irradiance predicting framework for solar energy projects

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Neural Computing and Applications 2024年第18期36卷 10585-10598页

作者： El-kenawy, El-Sayed M. Bailek, Nadjem Bouchouicha, Kada Zerouali, Bilel Hassan, Muhammed A. Kuriqi, Alban Jamil, Basharat Colak, Ilhami Khalil, Adel Ibrahim, Abdelhameed Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Mansoura35111 Egypt Laboratory of Mathematics Modeling and Applications Department of Mathematics and Computer Science Faculty of Sciences and Technology Ahmed Draia University of Adrar Adrar01000 Algeria Energies and Materials Research Laboratory Faculty of Sciences and Technology University of Tamanghasset Tamanrasset10034 Algeria MEU Research Unit Middle East University Amman Jordan Adrar01000 Algeria Vegetal Chemistry-Water-Energy Laboratory Faculty of Civil Engineering and Architecture Department of Hydraulic Hassiba Benbouali University of Chlef Ouled Fares Chlef02180 Algeria Mechanical Power Engineering Department Faculty of Engineering Cairo University Giza12613 Egypt School of Architecture University of Waterloo 7 Melville St S CambridgeONN1S 2H4 Canada CERIS Instituto Superior Tecnico Universidade de Lisboa Lisbon Portugal Civil Engineering Department University for Business and Technology PristinaKosovo10000 High Temperature Processes Unit IMDEA Energy Institute Av. Ramón de La Sagra 3 Móstoles Madrid28935 Spain Faculty of Engineering and Architectures Nisantasi University Istanbul Turkey Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura35516 Egypt

Diffuse horizontal irradiance (DHI) forecasts are critical for adopting solar photovoltaic technology. Yet, they can lack reliability given the limited and uncertain meteorological data available for desert areas. This research develops a new sine cosine dipper throated optimization (SCDTO) technique, targeting DHI prediction even given such data constraints. SCDTO uniquely hybridizes sine cosine metaheuristics, adept at exploration, with dipper throat optimization, providing focused exploitation. This hybridization aims to create a robust ensemble model capable of delivering reliable DHI predictions despite climatic uncertainty. The ensemble model, employing various input combinations, was rigorously evaluated across multiple meteorological stations. The SCDTO algorithm exhibited remarkable performance improvements, yielding substantial reductions exceeding 93% in root mean squared error and 98% in mean absolute error at key stations in Morocco, including Tan-Tan, Zagora, Erfoud, and Oujda. Comparative analyses against established optimization algorithms consistently underscored the superior predictive capabilities of SCDTO. Visualizations, including box plots and histograms, demonstrated SCDTO’s efficacy in minimizing prediction errors, particularly for Tan-Tan, Zagora, and Erfoud stations. Also, statistical validation through one-way analysis of variance (ANOVA) further affirmed the significance of the proposed SCDTO method. Therefore, this hybrid metaheuristic optimization enables more accurate DHI predictions from limited meteorological data. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Solar energy

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An LMI approach to design robust fault detection filter for uncertain Lur'e singularly perturbed systems

An LMI approach to design robust fault detection filter for ...

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第43届中国控制会议

作者： Lei Liu Wenjie Dou Ying Yang Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology State Key Lab for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of EngineeringPeking University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this paper, the robust fault detection filter(RFDF) design problem for uncertain Lur'e singularly perturbed systems(SPSs) with unknown inputs is studied. Firstly, an optimal residual generator is constructed as a reference model, and the design of the RFDF for the system is formulated as an H∞ model matching problem. Secondly, based on the linear matrix inequality(LMI) theory, the sufficient conditions for the augmented system to be absolutely stable and satisfy the H∞ performance index are derived. Then an algorithm is proposed to solve the optimization problem, based on this, the specific parameters of the RFDF are obtained by using the LMI toolbox, and the fault detection method based on residual signal is obtained. Finally, a numerical example is given to verify the feasibility and effectiveness of the proposed results.

关键词： Lur'e Singularly Perturbed systems Fault detection filter Model matching H∞ optimization Linear matrix inequality(LMI)

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基于正交质谱的N-糖组谱揭示哈夫病潜在病原学

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engineering 2023年第7期26卷 63-73,I0003页

作者：刘思刘圆圆林佳静刘笔锋何振宇吴晓旻刘欣 The Key Laboratory for Biomedical Photonics of the MOE at Wuhan National Laboratory for Optoelectronics–Hubei Bioinformatics and Molecular Imaging Key Laboratory Systems Biology ThemeDepartment of Biomedical EngineeringCollege of Life Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Wuhan Center for Disease Control&Prevention Wuhan 430015China

食用煮熟的小龙虾可能导致哈夫病(HD),该病被认为是由不明毒素引起的,而病因尚不清楚。N-糖组的剖析将促进破译疾病的分子机制,而HD相关的糖基化从未被探索过。2019-2020年期间,本研究团队招募了来自武汉市疾病预防控制中心的90份HD患... 详细信息

食用煮熟的小龙虾可能导致哈夫病(HD),该病被认为是由不明毒素引起的,而病因尚不清楚。N-糖组的剖析将促进破译疾病的分子机制,而HD相关的糖基化从未被探索过。2019-2020年期间,本研究团队招募了来自武汉市疾病预防控制中心的90份HD患者和对照组血清样本。本文中,采用基于高通量的正交质谱对HD中血清和血清衍生的IgG的N-糖组谱进行了表征。数据显示,HD与总血清糖蛋白的核心岩藻糖基化和单半乳糖醇化升高有关。血清IgG水平是HD患者的良好指标。此外,IgG的差异半乳糖基化和唾液酸化与HD密切相关。值得注意的是,IgG1和IgG2的半乳糖基化和唾液酸化的变化具有亚类特异性。有意义的是,IgG2或IgG3/4的唾液酸化和半乳糖基化改变与HD的临床标志物密切相关。本研究表明差异化IgG N-糖基化与HD的关联,为这种罕见疾病的病因提供了新的见解。

关键词： Haff disease Serum Immunoglobulin G Glycosylation Disease pathogenesis

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops 13

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Zhang, Yanchao Geng, Hao Liu, Bin Zhang, Yinlong Yuan, Xudong Zhang, Sichao School of Information Science and Engineering Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350361674

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation. © 2024 IEEE.

关键词： Extended Kalman filters

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