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9th International Conference on Fluid Power and Mechatronics, FPM 2023

作者： Yamada, Tsuyoshi Ito, Kazuhisa Inada, Ryo Shibaura Institute of Technology Graduate School of Engineering and Science Saitama Japan Shibaura Institute of Technology Department of Machinery and Control Systems Saitama Japan Hitachi Construction Machinery Co. Ltd. Advanced Development Center Tsuchiura Japan

ISBN: (纸本)9798350304947

The tilt angle control of variable displacement hydraulic pumps is susceptible to changes in dynamic characteristics that depend on operating points and load pressure, and hence high control performance is hard to achieve. In this study, a variable displacement pump without a mechanical feedback mechanism is focused on and its displacement control system is designed using a model predictive control (MPC) method that can consider various design constraints. In particular, the adaptive MPC is introduced for accepting dynamic characteristics change and load pressure. The results clarified that the difference due to the variations in the model order was negligible for the steady-state deviation and settling time;however, the overshoot variation and the average of absolute tracking error could be attenuated using a higher order model for load pressure changes. Furthermore, the settling time and tracking error were considerably reduced by increasing the prediction and control horizons properly. © 2023 IEEE.

关键词： Model predictive control

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Two-Stage Representation Refinement Based on Convex Combination for 3-D Human Poses Estimation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第12期5卷 6500-6508页

作者： Chen, Luefeng Cao, Wei Zheng, Biao Wu, Min Pedrycz, Witold Hirota, Kaoru China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Macau University of Science and Technology Institute of Systems Engineering Taipa999078 China Istinye University Research Center of Performance and Productivity Analysis Istanbul34010 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

In the human pose estimation task, on the one hand, 3-D pose always has difficulty in dividing different 2-D poses if the view is limited;on the other hand, it is hard to reduce the lifting ambiguity because of the lack of depth information, it is an important and challenging problem. Therefore, two-stage representation refinement based on the convex combination for 3-D human pose estimation is proposed, in which the two-stage method includes a dense-spatial-temporal convolutional network and a local-to-refine network. The former is applied to determine the features between each video frame;the latter is used to get the different scales of pose details. It aims to address the difficulty of estimating 3-D human pose from 2-D image sequences. In such a way, it can better use the relations between every frame in the sequence of the pose video to produce more accurate results. Finally, we combine the above network with a block called convex combination to help refine the 3-D pose location. We test the proposed approach on both Human3.6m and MPII datasets. The result confirms that our method can achieve better performance than improved CNN supervision, a simple yet effective baseline, and coarse-to-fine volumetric prediction. Besides, a robustness test experiment is carried out for the proposed method while the input is interrupted. The result verifies that our method shows better robustness. © 2024 IEEE.

关键词： Convolution

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An Improved Path Planning Algorithm for Heterogeneous Marine Unmanned systems 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Liu, Muyi Shen, Han Wang, Shuwang Wang, Linan Zhou, Yan Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing100081 China Beiing lnstitute of Aerospace Control Devices Beijing100854 China School of Cyber Science and Engineering Southeast University Nanjing211189 China Department of systems science Southeast University Nanjing211189 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

To improve the obstacle avoidance capability of agents and ensure reliable communication during the path following of heterogeneous marine unmanned systems, a dynamic safety area and communication distance constraint based path planning algorithm is proposed in this paper where the communication distance constraint is considered. Firstly, the dynamic safety area is constructed based on the relative velocity between agents and the dynamic obstacles to realize obstacle avoidance. Secondly, the reachable area of agents is determined according to the communication distance constraint such that the heterogeneous marine unmanned system maintains a high quality of communication during the path following. Finally, the communication constraint center switching algorithm is proposed to meet the communication distance constraint in different sea scenes. Numerical simulations are performed to show that the proposed path planning algorithm achieves strong communication connectivity during the path following of the agents in the heterogeneous marine unmanned system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Motion planning

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Minimizing risk in the scheduling of crudes in an oil refinery

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IFAC-PapersOnLine 2022年第7期55卷 809-814页

作者： Tomás García García-Verdier Gloria Gutiérrez Carlos Méndez Carlos G. Palacín César de Prada Systems Engineering and Automatic Control Department University of Valladolid Spain Center for Advanced Process Systems Engineering (CAPSE) INTEC (UNL - CONICET) Argentina

This paper focuses on formulating and solving the optimization of crude oil operations scheduling carried out in a system composed of a refinery and a marine terminal. The main challenge lies in coordinating the decisions made at both facilities and, at the same time, dealing with the uncertainties inherent in this activity. To tackle this problem, we present a continuous-time mixed-integer non-linear programming (MINLP) formulation. Furthermore, uncertainty in the ship arrival times is considered through a two-stage stochastic programming approach. Finally, the Conditional Value-at-Risk (CVaR) risk measure is employed to weigh the risk of having high costs relative to the worst scenarios. In this way, the proposed model is capable of supporting the decision-making process under uncertainty in an integral way.

关键词： Stochastic optimization Continuous-time representation Crude oil scheduling Uncertain oil supply Conditional Value-at-Risk

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Robust control of Feeding Speed in Coal Seam Drilling Process Considering Borehole Friction

Robust Control of Feeding Speed in Coal Seam Drilling Proces...

引用

2024 China Automation Congress, CAC 2024

作者： Liu, Xiao Chen, Luefeng Lu, Chengda Fan, Haipeng Wu, Min Pedrycz, Witold School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Department of Computer Engineering Istinye University Sariyer Istanbul34396 Turkey

ISBN: (纸本)9798350368604

During the coal seam drilling process, the drill string is subject to compressive deformation, compounded by unpredictable variations in formation hardness and borehole wall friction, leading to challenges in maintaining a stable feeding speed. This paper presents a novel approach by introducing uncertain parameters to describe the effects of formation hardness and borehole wall friction. Drill string axial movement model is modeled as a polyhedral system based on a lumped parameter representation. To meet industrial performance requirements, we design a robust H∞ controller to achieve consistent feeding speed control. Our simulation results demonstrate the controller’s effectiveness in ensuring system stability despite fluctuations in formation hardness and drill string friction. © 2024 IEEE.

关键词： Coal deposits

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Utilization of Energy Storage and Hydrogen in Power and Energy systems:Viewpoints from Five Aspects

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CSEE Journal of Power and Energy systems 2023年第1期9卷 1-7页

作者： Yonghua Song Mohammad Shahidehpour Saifur Rahman Nigel Brandon Kai Strunz Jin Lin Yuxuan Zhao State Key Laboratory of Internet of Things for Smart City University of MacaoTaipaMacao 999078China Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Galvin Center for Electricity Innovation Illinois Institute of TechnologyChicagoIL 60616USA Department of Advanced Research Institute Virginia Polytechnic Institute and State UniversityArlingtonVA 22203USA Department of Earth Science and Engineering Imperial College LondonLondon SW72AZU.K Department of Sustainable Electric Networks and Sources of Energy Technische Universitt Berlin10587 BerlinGermany State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijing 100084China

Decarbonizing power systems is crucial to mitigating climate change impacts and achieving carbon *** renewable energy supply can reduce greenhouse gas emissions and accelerate the decarbonization ***,renewable energy sources(RESs)such as wind and solar power are characterized by intermittency and often non-dispatchability,significantly challenging their high-level integration into power *** storage is acknowledged as a vital indispensable solution for mitigating the intermittency of renewables such as wind and solar power and boosting the penetrations of *** the CSEE JPES Forum,five well-known experts were invited to give keynote speeches,and the participating experts and scholars had comprehensive exchanges and discussions on energy storage ***,the views on the design,control,performance,and applications of new energy storage technologies,such as the fuel cell vehicle,water electrolysis,and flow battery,in the coordination and operation of power and energy systems were *** experts also provided experience that could be used to develop energy storage for constructing and decarbonizing new power systems.

关键词： Electrolysis electric vehicle energy storage flow battery fuel cell electric vehicle hydrogen energy

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Improving Collision-Free Success Rate For Object Goal Visual Navigation Via Two-Stage Training With Collision Prediction

arXiv

引用

arXiv 2025年

作者： Lian, Shiwei Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China

The object goal visual navigation is the task of navigating to a specific target object using egocentric visual observations. Recent end-to-end navigation models based on deep reinforcement learning have achieved remarkable performance in finding and reaching target objects. However, the collision problem of these models during navigation remains unresolved, since the collision is typically neglected when evaluating the success. Although incorporating a negative reward for collision during training appears straightforward, it results in a more conservative policy, thereby limiting the agent’s ability to reach targets. In addition, many of these models utilize only RGB observations, further increasing the difficulty of collision avoidance without depth information. To address these limitations, a new concept—collision-free success is introduced to evaluate the ability of navigation models to find a collision-free path towards the target object. A two-stage training method with collision prediction is proposed to improve the collision-free success rate of the existing navigation models using RGB observations. In the first training stage, the collision prediction module supervises the agent’s collision states during exploration to learn to predict the possible collision. In the second stage, leveraging the trained collision prediction, the agent learns to navigate to the target without collision. The experimental results in the AI2-THOR environment demonstrate that the proposed method greatly improves the collision-free success rate of different navigation models and outperforms other comparable collision-avoidance methods. Copyright © 2025, The Authors. All rights reserved.

关键词： Deep reinforcement learning

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Accurate TCP Position and Orientation Trajectory Generation in 6DOF Robotic Manipulators and CNC Machine Tools using FIR Filtering and Haversine Synchronisation 56

Accurate TCP Position and Orientation Trajectory Generation ...

引用

56th CIRP International Conference on Manufacturing systems, CIRP CMS 2023

作者： Ward, Rob Sencer, Burak Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom Advanced Manufacturing Research Centre University of Sheffield RotherhamS60 5TZ United Kingdom Mechanical Engineering Department Oregon State University CorvallisOR United States

The use of robotics in manufacturing is rapidly growing. One promising application in particular is the use of robots as machining platforms. Robotic machining offers many advantages such as large operating envelopes, flexibility in operations and low installation and running costs. Robotic machining platforms much like computer numerically controlled (CNC) machine tools are commanded by numerical controllers (NCs) using the well established G-code part programming language (ISO-6983). Toolpaths are defined in the work piece coordinate system (WCS) as a series of discrete tool centre point (TCP) positions and tool orientations. The role of the NC is to generate smooth feed drive or robot joint commands such that the tool or end effector travels along the commanded toolpath whilst satisfying TCP position and orientation tolerances and robot/machine tool kinematic constraints. Interpolating tool orientations directly in the WCS requires complex real-time spherical interpolation computations. Overcoming this challenge, this paper introduces a C4 continuous tool path trajectory generation method for 6DOF motion. The tool centre point position is smoothed in the WCS, however, the tool orientation is smoothed directly in the rotary coordinate system without the requirement for spherical interpolation. The interpolated tool orientation trajectory follows the path of the great circle arc using the modified Haversine method eliminating non-linear interpolation errors present in linear interpolation of rotary axis positions (machine coordinate system interpolation). The proposed method is validated by simulation of a 6DOF robotic manipulator. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on Manufacturing systems 2023.

关键词： Interpolation Motion control Pose control Robotic Machining Trajectory Generation

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Solving PnP Problem Using Improved Sparrow Search Algorithm

Solving PnP Problem Using Improved Sparrow Search Algorithm

引用

IEEE International Symposium on Intelligent Signal Processing and Communication systems (ISPACS)

作者： Kurihara Riku Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (数字)9798350389210

ISBN: (纸本)9798350389227

The Perspective-n-Point (PnP) problem is a fundamental challenge in engineering that plays a crucial role in fields such as computer vision and augmented reality. This problem aims to estimate the position and orientation (pose) of a camera from known 3D points and their corresponding 2D projections on the image plane. With recent technological advancements, application areas such as autonomous vehicles, drones, and robotics are demanding increasingly faster and more accurate camera pose estimation. To address this challenge, we have introduced an improved Sparrow Search Algorithm (SSA) with the capability to dynamically restrict the search area. While the conventional SSA demonstrated excellent optimization capabilities, it faced efficiency issues when searching in high-dimensional spaces, such as those encountered in PnP problems. Our enhancement enables the algorithm to leverage information obtained during the search process to gradually narrow down the search area, thereby more efficiently locating the optimal solution.

关键词： Point cloud compression Accuracy Three-dimensional displays Heuristic algorithms Robot vision systems Pose estimation Signal processing algorithms Search problems Cameras Optimization

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Multi-Lens Visual SLAM with Integrated Moving Object Removal using Unsupervised Models

Multi-Lens Visual SLAM with Integrated Moving Object Removal...

引用

Robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Ryoichirou Hara Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Fukuoka Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Fukuoka Japan

In advanced Driver-Assistance systems (ADAS), SLAM (Simultaneous Localization and Mapping) technology is required to accurately estimate the position and orientation of onboard cameras. Compared to LiDAR SLAM, Visual SLAM has the advantage of collecting rich environmental information at a lower cost. However, the accuracy of the estimated pose and map construction is greatly reduced by moving objects in the camera scene. To solve this problem, a multi-camera SLAM has been proposed, which works robustly in dynamic environments by using multiple cameras to acquire more feature points from omnidirectional environmental information. In this paper, we propose a robust SLAM system based on a multi-camera SLAM system combined with object detection and semantic segmentation networks. We then evaluate the robustness of the proposed method by comparing it to SLAM systems that do not remove moving objects. Experimental results showed that the Absolute Trajectory Error and the Relative Position Error performed better than conventional SLAM by masking moving objects. It also showed that more static objects were detected and constructed in the map.

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