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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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RoG-SAM: A Language-Driven Framework for Instance-Level Robotic Grasping Detection

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IEEE Transactions on Multimedia 2025年 27卷 3057-3068页

作者： Mei, Yunpeng Sun, Jian Peng, Zhihong Deng, Fang Wang, Gang Chen, Jie Beijing Institute of Technology State Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Tongji University Department of Control Science and Engineering Shanghai201804 China

Robotic grasping is a crucial topic in robotics and computer vision, with broad applications in industrial production and intelligent manufacturing. Although some methods have begun addressing instance-level grasping, most remain limited to predefined instances and categories, lacking flexibility for open-vocabulary grasp prediction based on user-specified instructions. To address this, we propose RoG-SAM, a language-driven, instance-level grasp detection framework built on Segment Anything Model (SAM). RoG-SAM utilizes open-vocabulary prompts for object localization and grasp pose prediction, adapting SAM through transfer learning with encoder adapters and multi-head decoders to extend its segmentation capabilities to grasp pose estimation. Experimental results show that RoG-SAM achieves competitive performance on single-object datasets (Cornell and Jacquard) and cluttered datasets (GraspNet-1Billion and OCID), with instance-level accuracies of 91.2% and 90.1%, respectively, while using only 28.3% of SAM's trainable parameters. The effectiveness of RoG-SAM was also validated in real-world environments. © 1999-2012 IEEE.

关键词： Robot vision

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Resilient sliding mode control for 2D CPSs under denial-of-service attacks

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Science China(Information Sciences) 2024年第6期67卷 262-278页

作者： Lingling LI Rongni YANG Zhiguang FENG Ligang WU College of Intelligent Systems Science and Engineering Harbin Engineering University School of Control Science and Engineering Shandong University School of Astronautics Harbin Institute of Technology

This study addresses the resilient sliding mode control(SMC) problem for two-dimensional cyber-physical systems(2D CPSs) characterized by the Roesser model under denial-of-service attack(DoSA), which can interfere with signal transmission over the communication network. First, the DoS-A model is established by introducing constraints on the Do S frequency and duration. Then, based on active or silent attack situations, the considered system is described as a switched mode. Furthermore, together with Lyapunov theory, the average dwell time technique is employed to deduce sufficient criteria that assure the existence of the desired sliding mode controller. Finally, verification examples are provided to show the validity of the established SMC scheme.

关键词： two-dimensional systems cyber-physical systems denial-of-service attack resilient sliding mode control

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Photographic Analysis and Optical Diagnosis of Kilowatt Microwave Plasma Torch with Air Carrier Gas

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Chemical Research in Chinese Universities 2023年第6期39卷 1051-1057页

作者： YU Dengjie YU Bingwen ZHANG Xuchen HUANG Shiluo YING Yangwei YAN Yuwei JIN Yining JIN Wei Research Center for Analytical Instrumentation Institute of Cyber-Systems and ControlCollege of Control Science and EngineeringZhejiang UniversityHangzhou 310058P.R.China Research Center for Analytical Instruments and Intelligent Systems Huzhou Institute of Zhejiang UniversityHuzhou 313002P.R.China Faculty of Engineering University of Alberta116 St.and 85 Ave.EdmontonAlbertaCanada

The spatiotemporal motion characteristics of the kilowatt argon microwave plasma torch with the air carrier gas(kW-AC-ArMPT)and the behavior of the plasma filaments are investigated with a digital single-lens reflex(SLR)camera and a high-speed *** with the introduction of the air,both the volume of the central channel and the rotational frequency of the plasma filament are ***,the excitation temperature(Texc),rotational temperature(Trot),and density of electron number(ne)of the kW-AC-ArMPT are measured with optical *** is clearly shown that the introduction of air contributed to the rise of Trot and ne of the plasma,which is beneficial to improving the analytical performance of the *** the detection limits of some heavy metal elements are measured by kW-AC-ArMPT,which are in the ppb *** experimental results show that the kW-ArMPT has a high tolerance to air injection at least 1.0 L/min,which allows the direct extraction of air from the environment for analysis and therefore has the potential for online and in-situ detection of ambient air quality and industrial exhaust gases.

关键词： Air carrier gas Microwave plasma torch Photographic analysis Optical diagnosis

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Design of Supervisory Model Predictive control for HVAC systems and Two Zones with Consideration of Energy Efficiency and Thermal Comfort 23

Design of Supervisory Model Predictive Control for HVAC Syst...

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23rd International Conference on control, Automation and systems, ICCAS 2023

作者： Srisurapanon, Panithan Banjerdpongchai, David Chulalongkorn University Center of Excellence in Intelligent Control Automation for Process Systems Faculty of Engineering Department of Electrical Engineering Pathumwan Bangkok10330 Thailand

ISBN: (纸本)9788993215274

This paper presents the design of supervisory model predictive control for HVAC systems and two zones. The supervisory control (SC) is designed to find the optimal reference temperature of each zone. The design criteria consist of the total operating cost (TOC) and the thermal comfort cost (TCC). Then, the model predictive control (MPC) is designed to track the optimal reference signals. When SC and MPC are designed for two zones simultaneously, they are referred to centralized SC and centralized MPC. On the other hand, when SC and MPC are designed for two zones separately, they referred to decentralized SC and decentralized MPC. We then compare the results between the decentralized control and the centralized control. The trade-off curve shows that the performance of centralized control is better than that of decentralized control. In particular, centralized MPC improves the performance in tracking reference signals. Furthermore, TOC of centralized control is lower than that of decentralized control. It can be concluded that the centralized control is appropriate for two zones in terms of the tracking of reference and the electrical charge. © 2023 ICROS.

关键词： Model predictive control

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Temporal-spatial dynamic characteristics of vehicle emissions on intercity roads in Guangdong Province based on vehicle identity detection data

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Journal of Environmental Sciences 2023年第8期130卷 126-138页

作者： Hui Ding Yongming Zhao Shenhua Miao Tong Chen Yonghong Liu College of Automation&College of Artifical Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023China School of Intelligent Systems Engineering Sun Yat-Sen UniversityGuangzhou 510275China Guangdong Provincial Key Laboratory of Intelligent Transport System Guangzhou 510275China Guangdong Provincial Engineering Research Center for Traffic Environmental Monitoring and Control Guangzhou 510275China

Estimating intercity vehicle emissions precisely would benefit collaborative control in multiple *** the variability of emissions caused by vehicles,roads,and traffic,the 24-hour change characteristics of air pollutants(CO,HC,NO_(X),PM_(2.5))on the intercity road network of Guangdong Province by vehicle categories and road links were revealed based on vehicle identity detection data in real-life traffic for each hour in July *** results showed that the spatial diversity of emissions caused by the unbalanced economywas *** vehicle emissions in the Pearl River Delta region(PRD)with a higher economic level were approximately 1–2 times those in the non-Pearl RiverDelta region(non-PRD).Provincial roads with high loads became potential sources of high ***,emission control policies must emphasize the PRD and key roads by travel guidance to achieve greater *** passenger cars with a large proportion of traffic dominated morning and evening peaks in the 24-hour period and were the dominant contributors to CO and HC emissions,contributing more than 50%in the daytime(7:00–23:00)and higher than 26%at night(0:00–6:00).Diesel trucks made up 10%of traffic,but were the dominant player at night,contributed 50%–90%to NO_(X) and PM_(2.5) emissions,with amarked 24-hour change rule of more than 80%at night(23:00–5:00)and less than 60%during ***,targeted control measures by time-section should be set up on collaborative *** findings provide time-varying decision support for variable vehicle emission control on a large scale.

关键词： Intercity roads Dynamic vehicle emissions Vehicle identity detection data Diesel trucks

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High-precision tracking control of parallel robots using the superhelix algorithm

High-precision tracking control of parallel robots using the...

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2024 China Automation Congress, CAC 2024

作者： Jiang, Haowei Li, Ruchao Quan, Lidi Li, Bing Xu, Xiaoyu Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems School of Engineering Huzhou University Huzhou313000 China School of Engineering Huzhou University Huzhou313000 China

ISBN: (纸本)9798350368604

The increasing demand for precision in industrial automation has amplified the importance of accurate control in parallel robots, particularly given their high nonlinearity, complex coupling, and sensitivity to environmental disturbances. This paper presents a trajectory tracking control strategy leveraging a super-helix algorithm and an adaptive integral terminal sliding mode controller, specifically designed to address the challenges posed by inertial forces, frequent acceleration shifts, and external perturbations in high-speed Delta parallel robots. By deriving a comprehensive dynamics model and integrating the convergence law with sliding mode and super-helix techniques, the proposed method significantly enhances system robustness and dynamic responsiveness. Simulation results demonstrate that, compared to traditional approaches, this method markedly improves trajectory tracking precision, disturbance resistance, and vibration suppression, enhancing system performance by up to 98.65%. This controller not only ensures high tracking accuracy but also holds considerable promise for practical industrial applications. © 2024 IEEE.

关键词： Sliding mode control

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Simulation and optimization of inchworm-like pneumatic crawling actuator based on ABAQUS software 7

Simulation and optimization of inchworm-like pneumatic crawl...

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7th International Conference on Robotics, control and Automation engineering, RCAE 2024

作者： Mu, Junqi Zong, Xiaofeng Wei, Yiyang Hou, Xuping China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan430074 China

ISBN: (纸本)9798350355642

The actuator, serving as the fundamental power source of a soft robot, functions as its central component. The field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling robots, being an essential branch within the realm of soft robotics, possess notable characteristics such as rapid response time, cost-effectiveness, and human-computer interaction safety. Consequently, they hold significant research value. Among various types of crawling robots that have garnered considerable interest from researchers is the inchworm crawling robot. This paper aims to address the design and development aspects pertaining to inchworm actuators. By utilizing ABAQUS simulation software and taking displacement as the reference parameter, an analysis was conducted to investigate the impact of various geometric parameters on actuator displacement. Additionally, optimization of these geometric parameters was performed. The values of aspect ratio, length-to-width ratio, vertex angle and gap depth suitable for inchworm-like actuator are obtained. These findings are presented for the first time in the field of crawling soft robots and provide a theoretical basis for the development of pneumatic inchworm-like actuators. © 2024 IEEE.

关键词： Aspect ratio

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Rethinking Distribution Alignment for Inter-class Fairness 1

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1st International Conference on Artificial Intelligence Security and Privacy, AIS and P 2023

作者： Ye, Jinhuang Wu, Jiawei Li, Zuoyong Zheng, Xianghan College of Computer and Big Data Fuzhou University Fuzhou350108 China School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen518107 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China

ISBN: (数字)9789819997886

ISBN: (纸本)9789819997879

Semi-supervised learning (SSL) is a successful paradigm that can use unlabelled data to alleviate the labelling cost problem in supervised learning. However, the excellent performance brought by SSL does not transfer well to the task of class imbalance. The reason is that the class bias of pseudo-labelling further misleads the decision boundary. To solve this problem, we propose a new plug-and-play approach to handle the class imbalance problem based on a theoretical extension and analysis of distribution alignment. The method, called Basis Transformation Based Distribution Alignment (BTDA), efficiently aligns class distributions while taking into account inter-class *** implements the basis transformation through a learnable transfer matrix, thereby reducing the performance loss caused by pseudo-labelling biases. Extensive experiments show that our proposed BTDA approach can significantly improve performance in class imbalance tasks in terms of both accuracy and recall metrics when integrated with advanced SSL algorithms. Although the idea of BTDA is not complex, it can show advanced performance on datasets such as CIFAR and SVHN. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Image classification

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A Novel Thermal Analysis Method for Tubular PM Linear Motors Based on Transfer Learning

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7379-7388页

作者： Wu, Tao Dai, Peipei Xue, Gang Guo, Youguang Lei, Gang Zhu, Jianguo Wang, Yifei China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Technology Sydney School of Electrical and Data Engineering UltimoNSW2007 Australia The University of Sydney School of Electrical and Computer Engineering SydneyNSW2006 Australia

Thermal modeling and analysis are critical for permanent magnet linear synchronous motors (PMLSMs), particularly in multiphysical analysis and motor design optimization. This article proposes a new method for thermal steady state modeling and analysis based on transfer learning (TL), which combines the thermal mechanism model with the data-driven model to achieve high-precision temperature analysis with small number of finite element analysis (FEA) samples. First, an equivalent thermal circuit (ETC) model is established for PMLSMs based on the structural parameters and heat transfer principles. Second, a hybrid model based on TL is developed: the model is pretrained by a large sample set generated from the ETC in the source field (mechanism analytical model), and then, the trained model is transferred to the target field (FEA data-driven model). The parameters of the neural network in the target field are optimized by a few FEA sample sets with higher precision to improve the prediction accuracy of the target model. Experimental results demonstrate that the proposed method significantly boosts the performance of the deep neural network (DNN) model, particularly when training sets are small. The root mean square error (RMSE) of the DNN model decreases by 0.901 in the 5:5 (training/testing) dataset and 1.726 in the 2:8 dataset;and the corresponding R^{2} and maximal absolute error of motor performances are significantly decreased. The smaller the proportion of the training set, the better performance of the hybrid modeling will achieve. Furthermore, a temperature rise experiment conducted on a prototype motor validates the efficacy and precision of the proposed hybrid modeling methodology. © 2015 IEEE.

关键词： Permanent magnets

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