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Chinese control and Decision Conference, CCDC

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing P.R. China Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Beijing P.R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P.R. China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a representative subject was selected. Secondly, one of the simplest human walking model was set up. The mechanical property analysis of human walking was done based on the established walking model via fitting. Thirdly, the feasibility and effectiveness of proposed walking model were validated by numerical simulations. Finally, the intrinsical relationships among human walking, biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Legged locomotion Numerical models Force Analytical models Numerical simulation

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

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

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IEEE International Conference on Power and Energy systems (ICPES)

作者： Wenxuan Sun Tao Zhang Ran Tao Anna Wang College Of Information Science and Engineering Northeastern University 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: (数字)9781665404945

ISBN: (纸本)9781665404952

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.

关键词： Photovoltaic systems Renewable energy sources Machine learning algorithms Machine learning Predictive models Prediction algorithms Numerical models

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An improved Knowledge Graph Model Based on Fuzzy Theory and TransR

An improved Knowledge Graph Model Based on Fuzzy Theory and ...

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IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Yingkai Cai Chu Wang Zhongfeng Wang Chunhe Song Yunfeng Zou 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

ISBN: (数字)9781728152448

ISBN: (纸本)9781728152455

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.

关键词： Training Conferences Minimization Information retrieval Knowledge management Information technology Optimization

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Authentication Technology in Industrial control System Based on Identity Password

Authentication Technology in Industrial Control System Based...

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第三十九届中国控制会议

作者： Luyao Yang Wenli Shang Chunyu Chen Tianyu Wang Zhoubin Liu Shenyang Institute of Automation Chinese Academy of Sciences School of Information Science and Engineering Northeastern University University of Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Electric Power Research Institute State Grid Zhejiang Electric Power Co.Ltd.

Aiming at the current lack of certification capability in domestic industrial control systems, an industrial control system authentication scheme based on identity cryptography algorithm is proposed. When authenticating between control system devices, the scheme integrates the identity-based digital signature algorithm into the SSL/TLS handshake protocol to complete identity authentication between the engineering station and the trusted PLC. At the same time, when the connection is established for the first time between devices, the connection authentication is selected by the challenge/response based method. The authentication technology based on the identity cryptographic algorithm no longer requires the existence of a public key certificate. This eliminates the need to revoke, store, and issue certificates, simplifies the certification process and reduces the amount of computation required by the authentication process. At the same time, the improved handshake protocol is universal in industrial control systems. The authentication technology based on the identity and password algorithm no longer requires the existence of a public key certificate, eliminating the need for certificate revocation, storage, and issuance, simplifying authentication steps, and reducing system maintenance. Finally, by establishing a test environment, the improved handshake protocol is implemented, and the feasibility of the authentication scheme is verified and analyzed.

关键词： Industrial control security digital signature identity authentication SSL/TLS handshake protocol

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A study on rotate vector reducer performance degradation based on acoustic emission techniques

A study on rotate vector reducer performance degradation bas...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： An, Haibo Liang, Wei Ding, Xiaojian Zhang, Yinlong Tan, Jindong State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Automation Guangzhou Chinese Academy of Sciences Guangzhou511548 China Fifth Electronic Institute of MIIT Guangzhou510610 China Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee KonxvilleTN37996 United States

ISBN: (纸本)9781728163215

This paper presents a performance degradation analysis for rotate vector (RV) reducer using acoustic emission (AE) techniques. Unlike the AE signals from fixed gear reducer that are steady and have unchanged route, the AE signals from RV reducer have variant propagation paths and strengths. This work investigates the kinematics model using AE techniques to solve the inherent issues of RV reducer performance degradation analysis, such as signal variabilities and inappropriate thresholds. Firstly, the propagation path of AE signals within the crankshaft is developed. Secondly, the attenuation trend of AE signals is exponentially formulated based on the corresponding propagation curve. The proposed method has been evaluated on the developed RV reducer platform. AE signals were collected under various working conditions, i.e., four abrasion states with eight types of loads and five rotation speeds. The experimental analysis on typical parameters (e.g., signal energies) proves the effectiveness and accuracy of the developed method based on AE techniques. © 2019 IEEE.

关键词： Crankshafts

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Comparative analysis of control strategies for the reduction of tracking error in CPV systems

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AIP Conference Proceedings 2023年第1期2841卷

作者： Sergio I. Palomino-Resendiz Víctor Cadix-Martín Basil Mohammed Al-Hadithi Diego A. Flores-Hernández Instituto Politécnico Nacional – ESIME-ZAC Departamento de Control y Automatización Mexico City 07738 Mexico Escuela Técnica Superior de Ingeniería y Diseño Industrial Departamento de Ingeniería Eléctrica Automática y Física Aplicada Universidad Politécnica de Madrid Madrid 28012 Spain Intelligent Control Group Universidad Politécnica de Madrid Centre for Automation and Robotics UPM-CSIC Madrid 28006 Spain Instituto Politécnico Nacional – UPIITA Applied Dynamic Systems Laboratory Mexico City 07340 Mexico

In this work, an experimental methodology is shown that allows selecting the best controller alternative to govern a two-axis solar tracking system in trajectory tracking tasks. This, based on the comparison of the performance of different controllers during the tracking of a solar trajectory (obtained offline with the help of a numerical method) using a prototype solar tracking system in a simulation environment. The selection of the controllers is based on the performance reported in the literature and commercially for other alternatives based on parameters such as: tracking error and energy consumption, computational cost, ease of implementation, ease of tuning, among others. However, for the final validation and selection of the controller, a brief analysis of the numerical results obtained during the follow-up tests is provided.

关键词：

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Dual Arm Cooperation Based on Visual Servo control

Dual Arm Cooperation Based on Visual Servo Control

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Junbao Gan Chenguang Yang Long Cheng Ying Feng Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Bristol Robotics Laboratory University of the West of England Bristol UK Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In this paper, a position-based visual servo method is proposed to perform the high-accuracy precision grasping and collaborative tasks for dual arm robot. Firstly, an adaptive color identification procedure is presented to cope with the problem that the color of the object will change when the object is in different positions for object identification. Secondly, we employ the position-based visual servo method to build a control loop including the sensor data streams obtained from the visual system, the force / torque sensors and the joint encoders. Based on these data, the joint velocity value and the on-line motion trajectory of manipulator could be obtained, which led to a good performance on grasping a fixed object and tracking online. Finally, we implement three experiments to verify the effectiveness of the position-based visual servo method in this paper. The experimental results demonstrate the proposed method can effectively identify target objects with a good positioning accuracy and high capture success rate for collaborative tasks.

关键词： Conferences Automation control systems Intelligent systems

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Position Tracking for Continuum Robots with Joint Limit Constraints

Position Tracking for Continuum Robots with Joint Limit Cons...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Dengliang Lin Xin Dong Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Nottingham University Nottingham UK Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

This paper presents a novel tip-following approach for real-time position tracking and avoiding obstacle of continuum robots with joint limit constraints. This type of hyper-redundant robot, which is more flexible and compliant to explore in complex and constrained environments, such as in pipeline or narrow entrance. However, tradictional method based on inverse kinematic model is difficult to control the end-effector of continuum robot to avoid abstcales in the constrained circumstance. Therefore a new tip-following method based on forward kinematic model is proposed to control the robot and make it inspect the environment. For the method, we use nonliner progamming approach to solve the optimization problem, which is used to find minimum of constrained nonlinear objective function to ensure that the end-effector of the robot follow the desired position with minimal error. In this paper, we employ a 24 DoF continuum robot with continuous backbone and compliant joint to the simulation, and it is testified that the proposed approch can ensure joint limit avoidance, track the end postion in real time and minimize the tracking errors.

关键词： hyper-redundant robots obstacle avoidance tip-following control kinematic model kinematics Robot Redundant robot Obstacle avoidance Continuum Location tracking Collision avoidance Joints end effectors

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A registration-aided domain adaptation network for 3D Point cloud based place recognition

arXiv

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arXiv 2020年

作者： Qiao, Zhijian Hu, Hanjiang Shi, Weiang Chen, Siyuan Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Mechanical Engineering Carnegie Mellon University United States Department of Computer Science and Technology University of Cambridge United Kingdom

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather variance. However, it is time-consuming and effort-costly to obtain high-quality point cloud data for place recognition model training and ground truth for registration in the real world. To this end, a novel registration-aided 3D domain adaptation network for point cloud based place recognition is proposed. A structure-aware registration network is introduced to help to learn features with geometric information and a 6-DoFs pose between two point clouds with partial overlap can be estimated. The model is trained through a synthetic virtual LiDAR dataset through GTA-V with diverse weather and daytime conditions and domain adaptation is implemented to the real-world domain by aligning the global features. Our results outperform state-of-the-art 3D place recognition baselines or achieve comparable on the real-world Oxford RobotCar dataset with the visualization of registration on the virtual dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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Distributed Hierarchical Fault Diagnosis Based on Sparse Auto-Encoder and Random Forest 4th

Distributed Hierarchical Fault Diagnosis Based on Sparse Aut...

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4th International Conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Li, Tong Song, Chunhe Liu, Yang Wang, Zhongfeng Yu, Shimao Su, Shanting Liaoning Electric Power Research Institute State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (纸本)9783030323875

For the diagnosis of large-scale local devices, the traditional centralized fault diagnosis systems are becoming incompetent to meet the requirement of real-time monitoring. This paper proposes the Distributed hierarchical Fault Diagnosis System (DFDS). Specifically, DFDS implements fault monitoring by an improved Sparse Auto-Encoder (SAE) on the monitor layer, classifies faults and identifies unknown faults by an improved random forest on the classification layer, learns new knowledge and updates the system on the decision layer. We apply DFDS in the laboratory data of Case Western Reserve University to verify the efficiency of the proposed system. The experimental results show that our method can accurately detect the fault and accurately identify the fault type. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Fault detection

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