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3rd International Conference on Advanced systems and Emergent Technologies, IC_ASET 2019

作者： Hachicha, Saber Zaoui, Chiheb Rabhi, Yassine Dallagi, Habib Nejim, Samir Maalej, Aref Automatic Control Marine Robotics Naval Academy Tunisia Laboratory of Signal Image and Energy Mastery National Higher School of Engineering of Tunis Tunisia Laboratory of Electromechanical Systems University of Sfax Tunisia

ISBN: (纸本)9781728113173

The use of the underwater robot for ship hull cleaning is increasingly studied given the valuable operational, economic and environmental advantages that it offers. The Automatic control and Marine robotics Unit, within the Tunisian Naval Academy, has suggested a new underwater robot design that is equipped with two manipulating arms. The offered solution allows to combine a system portability with the improved cleaning efficiency offered by the manipulator arms. However, during underwater operation, the robot, located beneath the ship's hull, is exposed to several perturbation forces. These forces are mainly caused by water current and waves. This research focuses on the robot static and dynamic stability when it is exposed to external perturbations. The proposed approach to ensure the robot stability consists in improving its mechanical design. Therefore, we developed the design of the scaled robot to eliminate static behavior. The dynamic model was established and the electronic architecture was described. Besides, the control scheme was proposed. In conclusion, our study demonstrates the importance of the mechanical symmetry design and the control law to ensure the stability of the underwater robot. © 2019 IEEE.

关键词： Robots

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Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth's Magnetic Field Generation Based on 2.4- Meter Square Helmholtz Coils

Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth...

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Jormpon Chaisakulsurin Shariff Manuthasna Tanawish Masri Thanayuth Panyalert Kritsada Palee Pakawat Prasit Patcharin Kamsing Peerapong Torteeka Thai Space Consortium Project National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Center of Observatory Operation and Engineering National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Faculty of Engineering Program in Robotics and Computational Intelligence Systems International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Aeronautical Engineering Air-Space Control Optimization and Management Laboratory International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

This paper proposes a Hardware-in-the-Loop sim-ulation (HiLs) tested via square Helmholtz coils as a relative magnetic field generator. In technical terms, the HiLs is an indispensable tool for engineering design during rapid proto-typing of attitude determination and control algorithms for the turning parameters that control the attitude of the satellite, since most of the satellite's mission relies on its attitude, making this system one of the most essential to the satellite's operation. More-over, performing controlled experiments with the parameters for developing adaptive control algorithms improves the overall efficiency of the satellite's kinematic system. The conceptual design of a proposed system architecture can be composed of the electrical currents of 2.4-meter square Helmholtz coils produced by a low-level microcontroller equipped with a DC-motor driver by a pulse-width modulation (PWM) signal through real-time connection to an orbit propagator using a high-level computer. This research focuses on the attitude dynamic of satellites through the interaction between the Earth's magnetic field (EMF) and the magnetotorque in the satellite. To apply this phenomenon, the intensity and the direction of the magnetic field must be identified through Biot-Savart's law. Along with the EMF, the reference position is calculated using the standard general perturbations satellite orbit model (SGP4), and the intensity is modeled based on coefficients from the 13 th edition of the International Geo-magnetic Reference Field (IGRF). Therefore, this paper presents a detailed development of a HiLs testbed for distributed attitude determination and control systems (hardware and software co-design, protocol, and control theory). Furthermore, it discusses a classic cooperative control case for the output of magnetic field intensity and direction, which was undertaken to explain the integrated simulation process and validate the effectiveness of the co-simulation tested to be

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Self-Interference Cancellation Based Hybrid Beamforming Design for Full-Duplex mmWave Communication with Partially-Connected Structures

Self-Interference Cancellation Based Hybrid Beamforming Desi...

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International Conference on Communication Technology (ICCT)

作者： Gengshan Wang Zhijia Yang Tierui Gong Chuang Xie State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Institute of Computing Technology Beijing China

ISBN: (数字)9781728181417

ISBN: (纸本)9781728181424

The ever increasing demand for throughputs in next-generation wireless communication systems has been put forward for satisfying the exponentially incremental data transmissions. Millimeter wave (mmWave), massive multipleinput multiple-output (MIMO) and full-duplex (FD) are three disruptive technologies to meet the throughputs requirement, which can supply abundant spectral resources, provide multiplexing gain in space, as well as allow simultaneous transmissions, respectively. In this paper, we consider combining these three enablers to form a FD mmWave massive MIMO communication system. Due to the high costs and power consumption of the massive amount of radio-frequency chains components, especially when working on mmWave frequencies, as well as the strong self-interference (SI) that significantly degrades the performance, we focus on the SI cancellation based hybrid beamforming design for the FD mmWave system with partially-connected structures. Resorting to null space projection, we propose our hybrid beamforming design to cancel the SI as well as consider the spectral efficiency (SE) performance. Numerical results verify that our proposed hybrid beamforming design can indeed improve the SE performance when the signal-to-noise ratio (SNR) and the number of RF chains are large enough.

关键词： Radio frequency Interference cancellation Array signal processing Massive MIMO Throughput Millimeter wave communication Signal to noise ratio

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Bayesian online change point detection method for process monitoring

Bayesian online change point detection method for process mo...

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第32届中国控制与决策会议

作者： Yijun Pan Zeyu Zheng 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

Aiming at the problem of a large amount of unlabeled observations collected in the industrial processes,an unsupervised Bayesian online change point detection method is adopted for fault ***,a prior probability of fault occurrence is set based on the significance ***,the predictive distribution is calculated using the exponential family likelihoods as a new observation ***,based on the observed data,a recursive messagepassing algorithm is applied for calculating the fault occurrence probability at the current sampling *** power of the Bayesian method for fault detection is tested in a numerical simulation and the Tennessee-Eastman(TE) process.

关键词： fault detection Bayesian change point detection industrial process exponential family

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Urban Digital Twins for Intelligent Road Inspection

Urban Digital Twins for Intelligent Road Inspection

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IEEE International Conference on Big Data

作者： Rui Fan Yikang Zhang Sicen Guo Jiahang Li Yi Feng Shuai Su Yanting Zhang Wenshuo Wang Yu Jiang Mohammud Junaid Bocus Xingyi Zhu Qijun Chen the Department of Control Science & Engineering Frontiers Science Center for Intelligent Autonomous Systems and State Key Laboratory of Intelligent Autonomous Systems Robotics & Artificial Intelligence Laboratory (RAIL) Tongji University Shanghai P. R. China Department of Computer Science & Technology Donghua University Shanghai P. R. China Department of Civil Engineering McGill University Montreal Canada CTO office at ClearMotion Billerica MA USA Department of Electrical & Electronic Engineering the University of Bristol BS8 1UB U.K Key Laboratory of Road and Traffic Engineering of Ministry of Education Tongji University Shanghai P. R. China

ISBN: (纸本)9781665480468

Urban digital twin (UDT) technologies offer new opportunities for intelligent road inspection (IRI). This paper first reviews the state-of-the-art algorithms used in the two key components of UDT-based IRI systems: (1) multi-temporal, multi-dimension, multi-score, and heterogeneous road data acquisition, and (2) road distress detection. This paper then summarizes the UDTIRI competition, organized in conjunction with IEEE Bigdata 2022. More details on our competition are available at ***/view/udtiri-workshop/bigdata-2022.

关键词： Roads Data acquisition Inspection Big Data Rough surfaces Digital twins

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Development of a Vision Aided Automated Ball Retrieving Robot for Tennis Training Sessions

Development of a Vision Aided Automated Ball Retrieving Robo...

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International Conference on Industrial and Information systems, ICIIS

作者： Dulanjana M. Perera G.M.D. Menaka W.V.K.M. Surasinghe D.G. Kanishka Madusanka Thilina Dulantha Lalitharathne Robotics and Control Systems Laboratory University of Moratuwa Sri Lanka

ISBN: (数字)9781728137063

ISBN: (纸本)9781728137070

A single training session of tennis requires 30-40 balls and these scattered balls have to be collected at the end of each session which costs time and induces unnecessary physical stress on players. This paper proposes a method to retrieve the balls which are scattered in the Tennis court back to the user. The proposed method comprises image processing techniques for object localization and the adaptation of Dijkstra's algorithm for optimum path planning for efficient navigation. Both localization and the path planning algorithms are developed on a Python platform and robot's differential drive system is controlled by a microcontroller. Communication between robot and the computer is established through Wi-Fi. Novel development of this research is the implementation of the global view method for a vast range of image acquisition and verifying its suitability in Tennis field. In order to collect balls efficiently, an adaption of an existing mechanism is proposed. Results show that the mechanism is 80% efficient in collecting balls and 100% efficient in object identification for a given environmental condition.

关键词： Containers Navigation Wheels Mobile robots Sports equipment

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Research on PMSM Vector control System Based on Fuzzy PI Parameter Self-Tuning 10

Research on PMSM Vector Control System Based on Fuzzy PI Par...

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10th International Conference on Power and Energy systems, ICPES 2020

作者： Ding, Jianhua Zhang, Tao Tao, Ran Wang, Anna Northeastern University College of Information Science and Engineering 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 Electrical Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781665404945

Based on the analysis of the permanent magnet synchronous motor (PMSM) mathematical model, a PMSM rotor field-oriented double closed-loop vector control system is constructed. Aiming at the defects of slow speed response, large overshoot, severe torque ripple, and poor anti-disturbance ability in the traditional PI controller used in the system speed loop, a fuzzy PI parameter self-tuning controller is proposed. The controller can set the two parameters of proportional and integral online according to fuzzy control rules. The system simulation model is built based on Matlab/Simulink. The simulation results show that the fuzzy PI parameter self-tuning controller has the advantages of fast dynamic response, high steady-state precision and strong anti-disturbance capability. © 2020 IEEE.

关键词： Permanent magnets

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman 10

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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10th International Conference on Power and Energy systems, ICPES 2020

作者： Sun, Wenxuan Zhang, Tao Tao, Ran Wang, Anna Northeastern University College of Information Science and Engineering 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 Electrical Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781665404945

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important[1]. The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV)[2][3]. In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series. © 2020 IEEE.

关键词： Adaptive boosting

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State observation of affine-in-the-states systems with unknown time-varying parameters and output delay

arXiv

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arXiv 2021年

作者： Bobtsov, Alexey Nikolaev, Nikolay Ortega, Romeo Efimov, Denis Kozachek, Olga Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico INRIA Univ. Lille CNRS UMR 9189 CRIStAL LilleF-59000 France Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The development of the results proposed in the [Bobtsov et al. 2021a] and in the [Bobtsov et al. 2021c] is considered. The case with known parameters has been studied by many researchers-see [Sanz et al. 2019, Bobtsov et al. 2021b] and references therein-where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2021] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions. © 2021, CC BY-NC-ND.

关键词： Parameter estimation

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An improved knowledge graph model based on fuzzy theory and TransR 9

An improved knowledge graph model based on fuzzy theory and ...

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9th IEEE Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2020

作者： Cai, Yingkai Wang, Chu Wang, Zhongfeng Song, Chunhe Zou, Yunfeng State Grid Liaoning Marketing Service Center 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 State Grid Jiangsu Marketing Service Nanjing China

Thispaper relates to the field of knowledge management and information retrieval technology, and specifically provides a method for constructing a knowledge graph. The method for constructing the knowledge graph includes: acquiring triple data, converting the triple data into a normalized triple vector, using the triple vector to construct a knowledge graph based on fuzzy relations, and The minimization objective optimization function of the triple vector is acquired, and the knowledge graph is optimized. This paper reduces the complexity of the knowledge map training process and the time required for the training process. © 2020 IEEE.

关键词： Knowledge graph

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