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International Conference on Autonomous Robots and Agents, ICARA

作者： Renzo Acosta Julio Tafur Ruth Canahuire Enginnering Department Control and Automation Engineering Master Degree Program Pontificia Universidad Catolica del Peru Lima Peru Department of Electrical and Mechatronics Engineering Universidad de Ingenieria y Tecnologia - UTEC Lima Peru

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

This paper presents the dynamic modelling and end effector position control of a soft endoscope. Soft endoscope system under study consists mainly of a pneumatic driven soft actuator (PDSA) with four independently chambers. Recurrent neural network (RNN) and dynamic back propagation (DBP) training algorithm are used to obtain PDSA dynamic model. PDSA position controller is based on a feedforward neural network (FNN) and it is trained using PDSA closed loop system (CLS) and DBP training algorithm. CLS stability analysis concludes that it is not possible control PDSA end effector position using one position controller for different end effector initial and desired positions. Fuzzy logic methodology is used to integrate several positions controllers in a one controller valid for all operation range. The controller implementation and close loop system simulation are performed in MATLAB for different end effector desired position to validate system performance in all range of operation.

关键词： Training Fuzzy logic Backpropagation Recurrent neural networks Endoscopes Heuristic algorithms Artificial neural networks

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Consistency Evaluation of IoT Smart Meter’s Metering Accuracy considering Ambient Temperature and Load Current

Consistency Evaluation of IoT Smart Meter’s Metering Accura...

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System Reliability and Safety engineering (SRSE), International Conference on

作者： Weiming Liu Cen Chen Zhifei Wang Xiaosheng Zhang Guofu Zhai Wei Zheng Department of Electrical Engineering & Automation Harbin Institute of Technology Harbin China Beijing Aerospace Automatic Control Institute Beijing China

The energy meter is a widely used digital-analog electronic system. However, metering accuracy is inevitably influenced by factors such as ambient temperature, load current, and component tolerance. This paper introduces a method utilizing digital twin models to analyze the consistency of metering accuracy in a new single-phase smart meter prototype. An electro-thermal coupling model incorporating a temperature compensation algorithm is established, and the metering accuracy is solved using a surrogate model. By employing the Monte Carlo method, a batch of product samples is generated to determine the impact of varying ambient temperature and load current conditions on the metering accuracy’s consistency within the maximum operating range. The results of this study provides a valuable foundation for robust design and reliability optimization of the energy meter.

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无人飞行器在不确定扰动下的动态目标跟踪

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engineering 2024年第4期35卷 74-85页

作者： Yanjie Chen Yangning Wu Limin Lan Hang Zhong Zhiqiang Miao Hui Zhang Yaonan Wang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China Department of Computer Science Aberystwyth UniversityAberystwyth SY233DBUK School of Robotics Hunan UniversityChangsha 410082China College of Electrical and Information Engineering Hunan UniversityChangsha 410082China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan UniversityChangsha 410082China

This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle Visual servoing Velocity observer Target tracking

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Enhancing Human-Drone Interaction with Human-Meaningful Visual Feedback and Shared-control Strategies

Enhancing Human-Drone Interaction with Human-Meaningful Visu...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Riccardo Franceschini Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Barcelona Spain Department of Electrical Engineering Automation and Control Group Danish Technical University Lyngby Denmark

Recent developments in the capabilities of unmanned aerial vehicles (UAVs) have made them suitable for use in various industrial settings. Their ability to access difficult and remote locations, as well as providing remote manipulation and visual inspection capabilities, make them valuable for various industrial applications. However, operating UAVs can be challenging, particularly in cluttered environments. This research aims to enhance the teleoperation experience by providing human-meaningful information on the remote user interface, thereby improving the operator’s situational awareness. Shared autonomy routines utilizing the previously collected information are also developed to further assist the operator with challenging control tasks. The proposed system has been tested in simulated environments and on actual hardware.

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Neural Network Regression Analysis of Magnetic Sensor Data for Spatial Magnet Positioning

Neural Network Regression Analysis of Magnetic Sensor Data f...

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Electrical, Electronic and Computing engineering (IcETRAN), International Conference on

作者： Vladimir Sibinović Mirko Raković Department of Automatic Control Faculty of Electronic Engineering University of Niš Niš Serbia Chair of Mechatronics Robotics and Automation Faculty of Technical Science Novi Sad Serbia

ISBN: (数字)9798350386998

ISBN: (纸本)9798350387001

This paper deals with the magnet position estimation based on the measurements from multiple Hall sensors. Estimation of the position is obtained from trained artificial neural networks. Data are gathered using a custom sensor board that has eight three-axis Hall sensors on it, and correlation between magnetic field and position was determined to be able to estimate position in X and Y directions. First measurements were made to determine the optimal height of the magnet for later data gathering. The outcome of the research was evaluated by comparing the ground truth with the estimated values of the best-trained network to determine the error of estimation. Precise measurement of the position of the magnet is intended to be used for the development of a tactile sensor that estimates the contact force through the displacement of the magnet in the deformable layer.

关键词： Magnetic field measurement Systematics Magnetic sensors Layout Estimation Tactile sensors Artificial neural networks

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Motor Fault Diagnosis Under Complex Working Conditions Based on Signal Fusion and CA-CNN

Motor Fault Diagnosis Under Complex Working Conditions Based...

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Chinese automation Congress (CAC)

作者： Mingxuan Cai Qi Liu Yuxiang Liu Bo Yang Department of Automation Shanghai Jiao Tong University shanghai China Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Ministry of Education of China Shanghai China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Accurate fault diagnosis plays a key role in the safe and efficient operation of electrical motors. Aiming at multiclass motor fault diagnosis under complex working conditions, a signal fusion-based fault diagnosis framework is proposed. Measurement parameters from different sensors are first transformed by wavelet denoising and fast Fourier transform (FFT). Then, multiple parameters spectrum and working condition information are integrated and converted into high-dimension matrices. Finally, a channel-attention-based convolution neural network (CA-CNN) is proposed to extract fault patterns from a reconstructed matrix and output diagnosis results. Experiment results on both simulated and experimental datasets verify the effectiveness of the proposed method.

关键词： Fault diagnosis Employee welfare Wavelet transforms Accuracy Fast Fourier transforms Motors Sensors Numerical models Velocity measurement Matrix converters

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Improvement of the Electrical Properties of Silicone Rubber Doped with Nano-zirconia Grafted by Voltage Stabilizer 4

Improvement of the Electrical Properties of Silicone Rubber ...

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4th IEEE International Conference on Electrical Materials and Power Equipment, ICEMPE 2023

作者： Zhu, Xiaoqian Zhou, Yuanxiang Zhang, Yunxiao Chen, Ming Liu, Xuanhao Tsinghua University State Key Lab of Control and Simulation of Power System and Generation Equipment Department of Electrical Engineering Beijing China Fuzhou University College of Electrical Engineering and Automation Fuzhou China Xiamen Power Supply Company State Grid Fujian Electric Power Company Xiamen China Xinjiang University The Wind Solar Storage Division State Key Laboratory of Control and Simulation of Power System and Generation Equipment School of Electrical Engineering Urumqi China

ISBN: (纸本)9798350334678

Enhancing the electrical performance of silicone rubber (SiR) for cable accessories is noteworthy as they are almost the weakest parts of the cable system. Two types of voltage stabilizers were grafted onto the surface of nano-zirconia (ZrO2) particles, and the grafted nanoparticles were added to the SiR. Measurements such as breakdown strength, and conductivity were carried out to evaluate the electrical performance of SiR nanocomposites. The electrical performance measurement results indicated that the breakdown strength of the nanocomposite SiR improved while the conductance current was reduced. The trap distribution showed that the improvement of the electrical performance of the nanocomposite SiR is mainly due to the decrease of the shallow trap density or the increase of the deep trap density. © 2023 IEEE.

关键词： Nanoparticles

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Safety-critical control with control Barrier Functions: A Hierarchical Optimization Framework

arXiv

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arXiv 2024年

作者： Xie, Junjun Hu, Liang Qin, Jiahu Yang, Jun Gao, Huijun The Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China The Department of Automation University of Science and Technology of China Hefei230085 China The Department of Aeronautical and Automotive Engineering Loughborough University LeicestershireLE11 3TU United Kingdom The Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China

The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs), other constraints and nominal control design. However, the constrained optimization framework involves hyper-parameters to tradeoff different objectives and constraints, which, if not well-tuned beforehand, impact system performance and even lead to infeasibility. In this paper, we propose a hierarchical optimization framework that decomposes the multi-objective optimization problem into nested optimization sub-problems in a safety-first approach. The new framework addresses potential infeasibility on the premise of ensuring safety and performance as much as possible and applies easily in multi-certificate cases. With vivid visualization aids, we systematically analyze the advantages of our proposed method over existing QP-based ones in terms of safety, feasibility and convergence rates. Moreover, two numerical examples are provided that verify our analysis and show the superiority of our proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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A Bi-Level Energy-Efficient Optimization Method for Urban Railway Train Speed Profile and Timetable with an Extended Solution Space

SSRN

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SSRN 2024年

作者： Pu, Qian Shen, Haikuo Zhu, Liqiang Zhu, Xiaomin Chen, Hongtian The School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China The Department of Automation Shanghai Jiao Tong University Shanghai200240 China

Energy consumption is one of the key topics of urban railway systems from the perspective of operating costs and environmental friendliness. Interstation speed profile and timetable optimization are two main means to achieve energy saving. A bi-level energy-efficient optimization method is proposed in this study to associate the advantages of speed profile optimization and timetable optimization and reinforce the optimization effect. Firstly, for lower-level optimization, an interstation speed profile optimization model is built based on multiple running schemes, and a multi-objective evolutionary algorithm combined with an analytic function is proposed to obtain Pareto front solutions. Then, for upper-level optimization, an energy-efficient timetable optimization model is constructed based on Pareto front solutions of each running section acquired from lower-level optimization. Accordingly, the solving method with an evolutionary algorithm is proposed to minimize total net energy consumption. Finally, the case study of the Yizhuang line shows the effectiveness of the proposed method and 27.56% overall energy saved. Lastly, the results with different scenes revealed the influence of each level optimization on the overall results. © 2024, The Authors. All rights reserved.

关键词： Operating costs

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Performance analysis of SCHC compression for IPv6 in a real-world LoRaWAN deployment

Performance analysis of SCHC compression for IPv6 in a real-...

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IEEE Instrumentation and Measurement Technology Conference

作者： Emiliano Sisinni Paolo Bellagente Alessandro Depari Paolo Ferrari Stefano Rinaldi Dhiego Fernandes Carvalho Eduardo Paciencia Godoy Dept. of Information Engineering University of Brescia Brescia Italy Department of Control and Automation Engineering São Paulo State University Sorocaba Brazil

The Internet protocol (IP) is pivotal for the Internet of Things (IoT) paradigm, since it glues together the application-layer and the lower-level protocols of the stack, abstracting away the differences in the several access technologies. In this way, applications can access a uniform network interface, ignoring details about the actual underlying technology. The scalability requirements of IoT obliges to adopt IPv6, which brings a large overhead and payloads hardly compatible with limited resources of “smart things”. The Static Context Header Compression (SCHC) protocol defines a compression/fragmentation scheme that exploits statically provisioned rules for squeezing the IPv6 (and UDP) header targeting Low Power Wide Area (LPWA) communication solutions. In particular, LoRaWAN specifications have been recently updated to officially include SCHC. The advantage is that the smart thing can be easily linked with any other Internet-based application, enabling a full end-to-end IP link. Despite several analyses about SCHC exist based on simulations, very few (if any) exist about real-world deployments. This work aims at filling in this gap, exploiting the SCHC solution from Acklio and defining a set of metrics that can be easily evaluated. Results for a Class C LoRaWAN node show that end-to-end latency for the uplink and downlink directions are in the order of 0.5 s and 2.5 s, respectively for both a local and remote end user transferring 16 B payload.

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