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IEEE Advanced Information Technology, Electronic and Automation control Conference (IAEAC)

作者： Xiufang Zhou Aidong Xu Bingjun Yan Yue Sun Xiaojia Han Jingran Wang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728180281

ISBN: (纸本)9781728180298

Based on the requirements of safety communication in the safety instrumented system (SIS), a fieldbus functional safety communication protocol is proposed in this paper. According to the reasons of communication failure, several safety measures are used implicitly or explicitly to detect the error in the transmission. They include connection authentication, time stamp, sequence number and cyclic redundancy check (CRC). The communication architecture of full redundancy is structured to improve the reliability of communication system. Finally, the calculation results of the residual error rate show that the proposed functional safety fieldbus communication protocol meets the requirements of the safety integrity level (SIL) 3.

关键词： Protocols Error analysis Instruments Redundancy Measurement uncertainty Safety Reliability

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Sensor-less Complex System control of PMSM Based on Improved SMO

Sensor-less Complex System Control of PMSM Based on Improved...

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作者： Yingjie Xiong Anna Wang Tao Zhang College Of Information Science and Engineering Northeastern University Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology

The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very popular in AC motor *** have been widely used in various electrical appliances such as machine tools,robots,and household *** order to reduce the high-frequency chatter of the sensor-less control strategy of permanent magnet synchronous motors,a sensor-less control method based on improved SMO is *** back-EMF component in the static coordinate system is obtained through the *** backEMF component undergoes closed-loop feedback to eliminate the high-frequency *** back-EMF component is calculated by an improved PLL to obtain the position and speed of the rotor to improve system *** the end of the article,the feasibility is proved by comparing it with the simulation of conventional SMO-PLL.

关键词： PMSM SMO with closed-loop feed back improved PLL

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Joint Task Offloading and Uav Trajectory Optimization in Dynamic Edge Computing systems: A Deep Reinforcement Learning Approach

SSRN

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SSRN 2025年

作者： Wang, Yitian Wang, Hui Ding, Jingfang Yu, Haibin School of Information Engineering Shenyang University of Chemical Technology Shenyang110142 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 University of Chinese Academy of Sciences Beijing100049 China

This paper addresses latency challenges in cloud-based task offloading caused by geographical server-user disparities by integrating Unmanned Aerial Vehicles (UAVs) with Mobile Edge Computing (MEC). We propose a dynamic UAV-assisted framework that optimizes real-time parameter adjustments to minimize system latency. Key challenges include joint task offloading, UAV trajectory optimization, and User Equipment (UE) occlusion detection under mobility constraints. To resolve these, we transform the problem into a Markov Decision Process (MDP) and develop an enhanced Adaptive Delayed Deep Deterministic Policy Gradient (AD3PG) algorithm, which improves upon DDPG by incorporating delayed updates and neural network tuning. The algorithm dynamically optimizes three critical aspects: UAV-UE connectivity establishment, occlusion-aware dual noise power configuration, and adaptive task offloading ratios. Extensive simulations demonstrate AD3PG’s superiority over baseline methods such as DDPG and Twin-Delayed DDPG (TD3) in reducing total system latency by 13.2–35.3% under dynamic scenarios. These results validate the framework’s efficacy for latency-sensitive applications in UAV-MEC systems. © 2025, The Authors. All rights reserved.

关键词： Drones

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 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 Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery

Effective Decoupled Planning for Continuous Multi-Agent Pick...

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第32届中国控制与决策会议

作者： Zhenbang Nie Peng Zeng Haibin Yu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences University of Chinese Academy of Sciences

Continuous MAPD（Multi-Agent Pickup and Delivery） problem is widely encountered in material transportation ***（Token Passing） is a conflict-free,deadlock-free algorithm for continuous MAPD ***,when TP is used,the number of tasks simultaneously handled by agents is limited by the number of task endpoint *** solve this problem,ITP（Improved Token Passing） is proposed in this *** extra path planning procedure is introduced to improve agent utilization.A complete and optimal A*-based algorithm is designed to solve the low level single agent path planning *** increases system throughput by exploiting all available agents,and remains conflict-free and *** result shows that ITP outperforms TP in terms of system makespan under heavy workload in congested workspace.

关键词： Multi-Agent Pickup and Delivery Multi-Agent Path Finding Decoupled Path Planning

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

In order to solve the vibration problem of mining equipment,a Simulink simulation model of current loop,speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time,the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input ***,the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be ***,the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper *** view of the problem that the system identification is not accurate,a method of adjusting and setting input shaper parameters is designed,which is not very dependent on the *** results show that the optimal parameters of the shaper can be selected by the *** with the parameters of the shaper selected according to the identification model,the vibration suppression effect is better.

关键词： system identification input shaping oscillation suppression

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Application of Iterative Learning control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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2021 China Automation Congress, CAC 2021

作者： Yan, Hongyu Jia, Danping Zhang, Tao Zhang, Hualiang Xiong, Yingjie Lu, Xu Liu, Yang School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrica l Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426473

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms. © 2021 IEEE

关键词： Low pass filters

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A CNN-LSTM Hybrid Model for Ankle Joint Motion Recognition Method Based on sEMG

A CNN-LSTM Hybrid Model for Ankle Joint Motion Recognition M...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hao-Ran Cheng Guang-Zhong Cao Cai-Hong Li Aibin Zhu Xiaodong Zhang Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots Shenzhen Key Laboratory of Electromagnetic Control College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

A CNN-LSTM hybrid model for ankle joint motion recognition based on surface electromyography (sEMG) signals is proposed in this paper. The traditional recognition method is to manually extract the features from sEMG signals and then use machine learning method to train the model, which relies on prior knowledge and requires a lot of time to test and select good features to obtain high classification accuracy. In this paper, the CNN-LSTM hybrid model is used to identify four ankle joint movements (dorsiflexion, plantar flexion, foot varus and foot eversion). The hybrid model consists of two CNN layers and three LSTM layers. CNN can learn to automatically extract features and LSTM is able to capture long-term correlations of sEMG data. The experiment results show that the proposed model is effective and accurate, thus providing a basis for the subsequent research.

关键词： Feature extraction Convolution Machine learning Logic gates Neurons Kernel Robots

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Numerical simulation analysis and optimization of modular joint temperature field based on ANSYS

Numerical simulation analysis and optimization of modular jo...

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第33届中国控制与决策会议

作者： Tao Zhang Wenjing Xu Zizhao Huang Zhenqiang Yang Xiyou Chen Bingjie Zhao Hualiang Zhang School of Electrical Engineering Dalian University of Technology Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences CRRC DALIAN R&D CO. LTD. University of Chinese Academy of Sciences

In the low-speed state,temperature change has a significant impact on the working efficiency of a harmonic ***,since modular joints used in collaborative robots arbitrarily arrange nodes and meshes through the Finite Element Method(FEM),a temperature field calculation model of the integrated joints was established in this *** utilizing the ANSYS software,a steady-state temperature field distribution of the modular joint was calculated,and the temperature rise of the harmonic reducer was reduced by changing the thermal *** the results demonstrated that the method was effective,which is very important for the safe operation and performance improvement of modular j oints.

关键词： harmonic reducer modular joint Finite Element Method Temperature Field ANSYS

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D-VPnet: A Network for Real-time Dominant Vanishing Point Detection in Natural Scenes

arXiv

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arXiv 2020年

作者： Bo Liu, Yin Ming, Zeng Meng, Qing-Hao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin300072 China

As an important part of linear perspective, vanishing points (VPs) provide useful clues for mapping objects from 2D photos to 3D space. Existing methods are mainly focused on extracting structural features such as lines or contours and then clustering these features to detect VPs. However, these techniques suffer from ambiguous information due to the large number of line segments and contours detected in outdoor environments. In this paper, we present a new convolutional neural network (CNN) to detect dominant VPs in natural scenes, i.e., the Dominant Vanishing Point detection Network (D-VPnet). The key component of our method is the feature line-segment proposal unit (FLPU), which can be directly utilized to predict the location of the dominant VP. Moreover, the model also uses the two main parallel lines as an assistant to determine the position of the dominant VP. The proposed method was tested using a public dataset and a Parallel Line based Vanishing Point (PLVP) dataset. The experimental results suggest that the detection accuracy of our approach outperforms those of state-of-the-art methods under various conditions in real-time, achieving rates of 115fps. Copyright © 2020, The Authors. All rights reserved.

关键词： Convolutional neural networks

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