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42nd Chinese control Conference, CCC 2023

作者： Zhang, Jinwei Su, Jinya Yi, Dewei Yang, Jun Ministry of Education The School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China University of Aberdeen Department of Computing Science AberdeenAB24 3UE United Kingdom

ISBN: (纸本)9789887581543

With the advancement of industrial automation and artificial intelligence technology, unmanned port autonomy has gained increasing attention. Port automatic driving technology is a critical component of unmanned autonomous systems, enabling rubber tire gantry cranes (RTGs) to autonomously navigate by detecting port lanes and implementing control commands. In this study, a deep learning-based method is proposed for detecting port lanes in complex port scenes. The method employs the Inception module and attention mechanism to enhance lane feature extraction, and a structural loss is introduced to explicitly constrain the detection results and incorporate the prior characteristics of port lanes. A novel Mixed Feature Attention Network (MFANet) is proposed to implement the method for port lane detection. Experimental results demonstrate that MFANet effectively improves the accuracy of port lane detection while maintaining high computational efficiency. Furthermore, the performance of MFANet is evaluated in a real-world application scenario. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Computational efficiency

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Modeling and end vibration suppression of space manipulators based on structural flexibility 4

Modeling and end vibration suppression of space manipulators...

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2024 4th International Conference on Measurement control and Instrumentation, MCAI 2024

作者： Liu, Qingyu Ding, Yongkang Wang, Yuqing Zhang, Hongkang Yang, Han Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Wuhan430081 China Department of Mechanical Automation Wuhan University of Science and Technology Wuhan430081 China Hubei Provincial Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan430081 China

With the rising demand for more flexibility and larger workspaces in collaborative robots, rigid-flexible coupling robotic systems have garnered increasing attention. This study focuses on trajectory tracking and vibration suppression for RFCRSs operating in 3D space. The nonlinear coupling between angular joint positions and flexible structural displacement leads to complex vibration behaviors. To address this issue, the assumed mode method is employed to curve-fit the first-order modal shape of the flexible arm, resulting in a shape function. This approach simplifies the nonlinear infinite-dimensional dynamics of RFCRSs into a fourth-order dynamical system. The reference trajectory is planned using the polynomial programming method based on the established kinetic model. The reference trajectory is tracked with a model reference adaptive control (MRAC) method to reduce the robot end vibration. Finally, the effectiveness of the robot model reduction method and the associated control strategy is validated through a comparison with PD control and MRAC, which does not account for arm flexibility. © Published under licence by IOP Publishing Ltd.

关键词： Model reference adaptive control

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An Improved Data-Driven Adaptive Dynamic Programming Approach for Cooperative Games 42

An Improved Data-Driven Adaptive Dynamic Programming Approac...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Yi-Min Sun, Tao Ma, Song He, Lei-Ming Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Tsinghua University Department of Automation Beijing100084 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China Chinese Aeronautical Establishment Beijing100029 China

ISBN: (纸本)9789887581543

In this paper, we consider a continuous system cooperative dynamic game problem with two players. Through the introduction of dynamic programming concept, a Hamilton-jacobi-Belman equation for two players is designed. By introducing detection noises and using the basis function approximation method, a data-driven adaptive dynamic programming method is proposed and an iterative equation is obtained. Then, by introducing two detection noises and using the basis function approximation method, an iterative equation is obtained. It is note-worthy that we can obtain the Nash equilibrium solution of the cooperative game. Finally, a numerical simulation example is given to demonstrate the effectiveness of the proposed adaptive dynamic programming approach. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Dynamic programming

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Full-State Prescribed Performance-Based Consensus of Double-Integrator Multi-Agent Systems with Jointly Connected Topologies

arXiv

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arXiv 2024年

作者： Hou, Yahui Cheng, Bin The School of Automation Central South University Changsha410083 China The Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China

This paper addresses the full-state prescribed performance-based consensus problem for double-integrator multi-agent systems with jointly connected topologies. To improve the transient performance, a distributed prescribed performance control protocol consisting of the transformed relative position and the transformed relative velocity is proposed, where the communication topology satisfies the jointly connected assumption. Different from the existing literatures, two independent transient performance specifications imposed on relative positions and relative velocities can be guaranteed simultaneously. A numerical example is ultimately used to validate the effectiveness of proposed protocol. Copyright © 2024, The Authors. All rights reserved.

关键词： Multi agent systems

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2024 China automation Congress, CAC 2024

作者： Lang, Yumin Wu, Jiande Lang, Xun Yu, Wanke Yang, Chuanyan Su, Hongye Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) ofthese RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data. © 2024 IEEE.

关键词： Power spectral density

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Evaluating the Influence of Object Detection Models and Dataset Selection on Traffic Accident Prediction Performance

Evaluating the Influence of Object Detection Models and Data...

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IEEE International Conference on Consumer Electronics (ICCE)

作者： Wen-Hui Chen Yu-Hung Huang Yu-Chen Lin Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan

ISBN: (数字)9798331521165

ISBN: (纸本)9798331521172

Traffic accidents pose significant social and economic challenges, making effective accident prediction systems essential. Traditional machine learning methods often struggle to capture the complex, nonlinear patterns in visual accident data. Recent advancements suggest that deep learning offers a promising solution to this challenge. These vision-based systems rely on object detection as a foundational step, identifying key entities in traffic scenes captured by cameras to improve prediction accuracy. Despite its importance, the impact of object detection accuracy on overall accident prediction effectiveness remains underexamined. This study investigates this relationship through cross-dataset analysis. Experimental results show that object detection accuracy directly impacts accident prediction performance, with training dataset choice playing a critical role. Enhancing model generalization is essential to stabilizing accident prediction systems.

关键词： Training Economics Visualization Accuracy Transportation Object detection Predictive models Safety Object recognition Accidents

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Influence of Natural Vibration Frequencies in the Analysis on Vibration Resistance of Steel Supporting Parts of a Car

Influence of Natural Vibration Frequencies in the Analysis o...

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Balabanov, Igor Petrovich Mogilevets, Valery Dmitrievich Shabaev, Alexandr Alikovich Kazan National Research Technical University Named after A. N. Tupolev - Kai Department of Mechanical Engineering Kazan Russia Kazan Federal University Department of Automation and Control Kazan Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

This article discusses the causes of pump bracket failure on a truck. The pump bracket attached to the vehicle frame. The bracket model developed in NX CAD. The analysis of the vibration strength calculation of the engine pump installation performed using the ABAQUS software package. Model preparation, and finite-element meshing is performed on the ANSA software product. The calculation carried out taking into account vibration. In this work, the tool HARMONIC RESPONSE and TRANSIENT ANALYSIS used to take into account vibration in modeling. Simulation results show ultimate loads of 10 MPa. A bracket model has been developed that can withstand the loads. In the process of real car operation, some brackets break down. To increase the accuracy of modeling, a block of data of the bracket's natural operating frequencies during the vehicle's movement has been prepared. The acceleration sensor on the bracket takes the data. The real data we get as result of repeated real road tests. The bracket simulated for vibration resistance taking into account natural motions. The simulation results show ultimate loads of 92 MPa. Vibration strength simulations of a pump bracket mounted on a car frame show a nine-fold difference in the stresses generated. The point of stress concentration changes its location. This shows that the natural frequencies of the engine pump in motion superimposed on the frequencies generated when the car is in motion. Resonance occurs as a result. Resonance produces loads that not anticipated in the simulation. In reality, the bracket collapses. © 2022 IEEE.

关键词： Vibration analysis

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Steps Toward Industry 5.0:Building“6S”Parallel Industries With Cyber-Physical-Social Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1692-1703页

作者： Xingxia Wang Jing Yang Yutong Wang Qinghai Miao Fei-Yue Wang Aijun Zhao Jian-Ling Deng Lingxi Li Xiaoxiang Na Ljubo Vlacic School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE Macao University of Science and Technology Macao 999078China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China North Automatic Control Technology Institute Taiyuan 030006China China Huaneng Group Co. Ltd.Beijing 100031China Department of Electrical and Computer Engineering Indiana University-Purdue University Indianapolis(IUPUI)IndianapolisIN 46202 USA Department of Engineering University of CambridgeCambridgeCB21PZUK School of Engineering and Built Environment Griffith UniversityGold CoastQLD 4222Australia

Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.

关键词： ACP artificial intelligence CPS CPSS Industry 4.0 Industry 5.0 parallel industries parallel intelligence

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Dynamic Analysis and control of Fractional Order Memristor Hopfield Neural Network 42

Dynamic Analysis and Control of Fractional Order Memristor H...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Feng Cai, Gang Zhou, Feifan Wang, Wei Wang, Hua Yang, Xiuqin School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Ministry of Education for Intelligent Technology of Earth Exploration China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan4300748 China Boston University Department of Mechanical Engineering BostonMA02215 United States School of Education Minzu University of China Beijing100081 China

ISBN: (纸本)9789887581543

In this paper, a novel smooth magnetron is introduced to construct a fractional memristor Hopfield neural network (fractional order M-HNN). The local stability of equilibrium point are analyzed theoretically. Taking the memristor coupling strength coefficient and the fractional order as bifurcation parameters, the phase trajectory diagram, the bifurcation diagram of the system are drawn to analyze the influence on the dynamic behavior of the neural network. When the system parameters are fixed, the hyperchaos phenomenon of the fractional order M-HNN model is revealed. Finally, the PD controller is applied to the model to enhance the stability of the system. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Hopfield neural networks

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Stability and Bifurcation control of Fractional-Order Coupled Hindmarsh-Rose Neural Networks 42

Stability and Bifurcation Control of Fractional-Order Couple...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Feng Zhou, Feifan Wang, Wei Cai, Gang Wang, Hua O Yang, Xiuqin School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Ministry of Education for Intelligent Technology of Earth Exploration China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Boston University Department of Mechanical Engineering BostonMA02215 United States School of Education Minzu University of China Beijing100081 China

ISBN: (纸本)9789887581543

This article investigates a fractional-order coupled Hindmarsh-Rose neural networks model. Firstly, the existence and stability of an equilibrium point in the system are verified. Then, the periodic bifurcation behavior of the system on a two-parameter plane is studied, and numerical simulations show the existence of both non -chaotic and chaotic plus periodic bifurcation behavior on the two-parameter plane. Finally, a feedback controller was designed to stabilize the bifurcation point of the delayed system and increase the stable range of the system. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Neural network models

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