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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes Feb Ras Robotics Laboratory Vladivostok Russia M.D. Ageev Institute of Marine Technology Problems Feb Ras Laboratory of Robotic Systems Vladivostok Russia Admiral G.I. Nevelskoy Maritime State University Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798350395044

The paper presents the results of developing a method for generating reference control signals that describe the desired law of movement of various mechatronic objects (unmanned aerial vehicles, mobile land and underwater robots, etc.) along smooth trajectories specified by parametric splines. In order to maintain high dynamic accuracy of control of these mechatronic objects, including when solving group control problems, it is proposed to adjust their reference movement speed, taking into account the specified restrictions on the developed accelerations. Taking into account these restrictions is necessary to reduce the reference speed in sections of the trajectory with increased curvature. To implement the proposed approach, a method was developed and a system was synthesized, the performance of which was confirmed by the results of numerical simulation. The presented system is designed to operate in conditions where the reference trajectory of a mechatronic object is unknown in advance and is formed (or adjusted) directly during the mission without the possibility of preliminary calculations. Also, this system does not require complex calculations and can be implemented on the basis of low-power on-board computers. © 2024 IEEE.

关键词： Motion planning

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on Automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Research and Implementation of Industrial Real-Time Ethernet Scheduling Method Based on Time Slot Reuse 5

Research and Implementation of Industrial Real-Time Ethernet...

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5th International Seminar on Artificial Intelligence, Networking and Information Technology, AINIT 2024

作者： Gang, Mingxu Yan, Bingjun Hu, Bo 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

ISBN: (纸本)9798350385557

To improve the operation efficiency and real-time scheduling capability of existing industrial control network systems, based on the existing industrial real-time Ethernet communication protocol technology, an industrial real-time Ethernet scheduling method based on time slot reuse is proposed. This method adopts the time-division multiplexing strategy, decomposes the continuous time into different time slots, configures the data of different types of nodes to be transmitted in their respective time slots, uses the peak shift clock synchronization method and timer trigger task mechanism to improve the real-time communication, and uses the time slot multiplexing mechanism to improve the data transmission efficiency;Finally, a test platform is built to verify the proposed method. The experimental results show that the proposed method has high clock synchronization accuracy and real-time scheduling capability. © 2024 IEEE.

关键词： Synchronization

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Risk Assessment Based Time-adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Hai Li, Baoquan Yin, Haolin Zhang, Xuebo Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion planning to achieve safe and fast flight. Firstly, based on parameterization for uniform B-spline trajectories, relationship of knot spans and UAV speeds is analyzed, and an iterative velocity restrict algorithm is introduced to tackle nonexecutable flight. Subsequently, combining start and target points in local planning, an evaluation criterion function is designed with control points of the above trajectory and directions of collision avoidance. On this basis, risk assessment is conducted according to surrounding environments, where four phases of passing obstacles is constructed by considering risk level variation. Then, the weight function in each phase is determined by relationship of obstacle and planned local trajectory. Moreover, time intervals of B-spline trajectories are adjusted to obtain nonuniform trajectories, so as to affect UAV speeds. Simulation and experiment are conducted with comparison to verify performance of the proposed method. © 2025 IEEE.

关键词： Risk assessment

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A Battery control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning 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 Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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Industrial Internet for intelligent manufacturing:past, present, and future

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Frontiers of Information Technology & Electronic Engineering 2024年第9期25卷 1173-1192页

作者： Chi XU Haibin YU Xi JIN Changqing XIA Dong LI Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Industrial Internet, motivated by the deep integration of new-generation information and communication technology(ICT) and advanced manufacturing technology, will open up the production chain, value chain, and industry chain by establishing complete interconnections between humans, machines, and things. This will also help establish novel manufacturing and service modes, where personalized and customized production for differentiated services is a typical paradigm of future intelligent manufacturing. Thus, there is an urgent requirement to break through the existing chimney-like service mode provided by the hierarchical heterogeneous network architecture and establish a transparent channel for manufacturing and services using a flat network architecture. Starting from the basic concepts of process manufacturing and discrete manufacturing, we first analyze the basic requirements of typical manufacturing tasks. Then, with an overview on the developing process of industrial Internet, we systematically compare the current networking technologies and further analyze the problems of the present industrial *** this basis, we propose to establish a novel “thin waist” that integrates sensing, communication, computing, and control for the future industrial Internet. Furthermore, we perform a deep analysis and engage in a discussion on the key challenges and future research issues regarding the multi-dimensional collaborative sensing of task–resource, the end-to-end deterministic communication of heterogeneous networks, and virtual computing and operation control of industrial Internet.

关键词： Intelligent manufacturing Industrial Internet Thin waist Transparent service Manufacturing as a service

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A Model Integrating Wavelet Convolution and Linear Attention Mechanism for Inventory Management in Power Warehouses 4

A Model Integrating Wavelet Convolution and Linear Attention...

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4th IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2024

作者： Li, Tao Zhang, Zhengli Li, Ligang Du, Guozheng State Grid Shandong Electric Power Company Material Company Jinan China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China

ISBN: (纸本)9798350363586

Accurate inventory management in power warehouses is crucial for maintaining consistency between records and actual stock levels. However, the complex storage layout and the diversity of stored materials often lead to human errors during manual inventory checks, resulting in inefficiencies. To address these challenges, we collected 2,000 images from power warehouse environments and created a binary classification dataset containing images of correctly and incorrectly placed items. We propose a novel network, CWAMNet, specifically designed for visual inventory management in complex power warehouse environments. CWAMNet integrates wavelet convolution and a linear attention mechanism to overcome the limitations of traditional convolutional neural networks (CNNs) and standard attention mechanisms, achieving a balance between model capacity and computational efficiency. © 2024 IEEE.

关键词： Convolutional neural networks

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Unsupervised Anomaly Detection Approach Based on Adversarial Memory Autoencoders for Multivariate Time Series

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Computers, Materials & Continua 2023年第7期76卷 329-346页

作者： Tianzi Zhao Liang Jin Xiaofeng Zhou Shuai Li Shurui Liu Jiang Zhu Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110000China Shenyang Institute of Automation Chinese Academy of SciencesShenyang110000China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110000China University of Chinese Academy of Sciences Beijing100000China

The widespread usage of Cyber Physical systems(CPSs)generates a vast volume of time series data,and precisely determining anomalies in the data is critical for practical *** is the mainstream method for time series anomaly detection,and the anomaly is judged by reconstruction ***,due to the strong generalization ability of neural networks,some abnormal samples close to normal samples may be judged as normal,which fails to detect the *** addition,the dataset rarely provides sufficient anomaly *** research proposes an unsupervised anomaly detection approach based on adversarial memory autoencoders for multivariate time series to solve the above ***,an encoder encodes the input data into low-dimensional space to acquire a feature ***,a memory module is used to learn the feature vector’s prototype patterns and update the feature *** updating process allows partial forgetting of information to prevent model *** that,two decoders reconstruct the input ***,this research uses the Peak Over Threshold(POT)method to calculate the threshold to determine anomalous samples from normal *** research uses a two-stage adversarial training strategy during model training to enlarge the gap between the reconstruction error of normal and abnormal *** proposed method achieves significant anomaly detection results on synthetic and real datasets from power systems,water treatment plants,and computer *** F1 score reached an average of 0.9196 on the five datasets,which is 0.0769 higher than the best baseline method.

关键词： Anomaly detection autoencoder memory module adversarial training

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Design and Implementation of High Precision Clock Synchronization System Based on RT1064 6

Design and Implementation of High Precision Clock Synchroniz...

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6th International Conference on Communications, Information System and Computer Engineering, CISCE 2024

作者： Gang, Mingxu Yan, Bingjun Hu, Bo Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350353174

To realize the high-precision clock synchronization of various types of control equipment in the industrial process control network, a high-precision clock synchronizing system is designed and implemented. The system uses RT1064 microprocessor as the core, combined with ieee1588v2 high-accuracy clock synchronization protocol, and uses the MAC kernel integrated in rt1064 to support hardware timestamp function to achieve high-precision time synchronization between devices;Finally, the test verification platform is built to test and verify the accuracy. The test results show that the clock synchronization accuracy is within ± 400ns after the system runs stably, which meets the design requirements. © 2024 IEEE.

关键词： Mechanical clocks

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PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

PointPillars Backbone Type Selection for Fast and Accurate L...

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International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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