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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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LiDAR-Inertial-Encoder Fusion for Real-Time Simultaneous Localization and Mapping of Rubber Tire Gantry Cranes

LiDAR-Inertial-Encoder Fusion for Real-Time Simultaneous Loc...

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第43届中国控制会议

作者： Wangchao Yu Jun Yang Jinya Su School of Automation Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University Department of Aeronautical and Automotive Engineering Loughborough University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Simultaneous Localization and Mapping(SLAM) plays a vital role in ensuring port safety and efficiency by augmenting accurate, robust, and real-time perception. SLAM has been widely applied in automated guided vehicles in ports, there is still limited exploration into rubber tire gantry(RTG) crane applications. To address this gap, this paper introduces a robust SLAM framework for RTGs, leveraging a tightly coupled Iterated Error-State Kalman Filter to integrate multiple solid-state LiDARs with IMU and encoder measurements. The proposed approach, mainly encompassing preprocessing for sensor synchronization and a novel feature point based on LiDAR point cloud intensity, can significantly enhance system robustness. During prediction,the IMU first infers the system's state and de-skews the LiDAR point cloud with an initial estimate, which is then optimized using Li DAR observations in the update stage. Tested on extensive self-collected port datasets against the SOTA FAST-LIO2,the proposed method achieves considerable accuracy and robustness in RTG applications.

关键词： SLAM Multi-LiDARs Multi-sensor fusion Rubber Tire Gantry Cranes

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Container Distance Estimation for Automated RTG via Improved SOLOv2 Instance Segmentation

Container Distance Estimation for Automated RTG via Improved...

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第43届中国控制会议

作者： Zhengtao Yu Jun Yang Jinya Su School of Automation Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University Department of Aeronautical and Automotive Engineering Loughborough University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This study develops a simple real-time algorithm inferring the relative distance between containers stacked in operational yards and spreaders of Rubber Tire Gantry(RTG) in support of fully automated RTG operations in ports. The proposed scheme is based on SOLOv2 instance segmentation network with image captured by camera mounted on RTG driver's ***, distance calculation is achieved by containers' surface recognition via instance segmentation and geometric information pertaining to the containers. To meet the dual demands of accuracy and reduced resource consumption, the original backbone network of SOLOv2, namely resnet18, is replaced by GhostNet. This substitution enables the extraction of multi-level feature maps for fusion, significantly reducing network complexity without sacrificing accuracy. The proposed algorithm is validated by comparative experiments on a self-curated real-life dataset, demonstrating a remarkable reduction of 91.6% in FLOPS and 55.7% in Params for the improved SOLOv2 framework.

关键词： Distance Estimation Instance Segmentation Rubber Tire Gantry Network lightweight

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engineering METHODS OF control DESIGN FOR DISTRIBUTED PARAMETER SYSTEMS

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IFAC Proceedings Volumes 2005年第1期38卷 159-164页

作者： G. Hulkó C. Belavý Ŝ. Cibiri J. Szuda University Center for Control of Distributed Parameter Systems Department of Automation and Measurement Faculty of Mechanical Engineering Slovak University of Technology Nám. Slobody 17 812 31 Bratislava Slovak Republic

In the paper engineering methods for control of distributed parameter systems given by numerical structures on complex shape 3D definition domains are presented. controlled systems are interpreted as lumped-input/distributed-output systems. Schemes of distributed parameter control loops are arranged. A web-based control design environment from *** will be introduced: Distributed Parameter Systems Blockset for MATLAB & Simulink – third-party MathWorks product, web service and internet monograph. – In general the paper indicates a new direction for engineering control technology, operating mainly on the time axis, to expand towards time/space coordinates of real world.

关键词： control design distributed parameter systems lumped-input/distributed-output systems time/space decomposition of dynamics and control synthesis distributed parameter PID algebraic state space robust control web based control design environment finite element method

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WEB-BASED control DESIGN ENVIRONMENT FOR DISTRIBUTED PARAMETER SYSTEMS control EDUCATION

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IFAC Proceedings Volumes 2005年第1期38卷 25-30页

In the paper a web-based control design environment for distributed parameter systems control education is presented. It is arranged on *** and includes: full downloadable demo version of Distributed Parameter Systems Blockset for MATLAB & Simulink with Show, Demos and DPS Wizard –third-party Math Works product; web Service for support control solutions via internet and internet monograph Modeling, control and Design of Distributed Parameter Systems with Demonstrations in MATLAB. Some possibilities of this environment are indicated by control of complex shape 3D metal body heating – modeled by numerical structures of finite element method.

关键词： control education internet distributed parameter systems lumped-input/distributed-output systems time/space decomposition of dynamics and control synthesis distributed parameter PID algebraic state space robust control web based control design environment finite element method

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Wheat Drought Assessment by Remote Sensing Imagery Using Unmanned Aerial Vehicle

Wheat Drought Assessment by Remote Sensing Imagery Using Unm...

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第37届中国控制会议

作者： Jinya Su Matthew Coombes Cunjia Liu Lei Guo Wen-Hua Chen Department of Aeronautical and Automotive Engineering Loughborough University Key Laboratory of Measurement and Control of Complex Systems of Engineering (Southeast University) Ministry of Education School of Electrical Engineering and Automation Beihang University

This work aims at evaluating the usability of remote sensing RGB imagery by an Unmanned Aerial Vehicle（UAV） in assessing wheat drought status. A UAV survey is conducted to collect high-resolution RGB imageries by using DJI S1000 for the experimental wheat fields of Gucheng town, Heibei Province, China. The soil moisture for different plots of the experimental filed is kept at an approximately constant level for the whole growing season in a well controlled environment, where field measurements are performed just after the UAV survey to obtain the soil water content for each plot. A machine learning based wheat drought assessment framework is proposed in this work. In the proposed framework, wheat pixels are first segmented from the soil background using the classical normalized excess green index（NEx G）. Rather than using pixel-wise classification,a pixel square of appropriate dimension is defined as the samples, based on which various features are extracted for the wheat pixels including statistical features and spectral index features. Different classification algorithms are experimented to identify a suitable one in terms of classification accuracy and computation time. It is discovered that Support Vector Machine with Gaussian kernel can obtain an accuracy over 90%, which demonstrates the usefulness of RGB imagery in wheat drought assessment.

关键词： Classification Remote sensing UAV imagery Wheat drought

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Attentive online sequential extreme learning machine for nonlinear dynamic process monitoring

Attentive online sequential extreme learning machine for non...

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第34届中国过程控制会议

作者： Jingxin Zhang Yuying Cao Hai Zhou Department of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education Department of Automation Southeast University New Energy Research Center China Electric Power Research Institute

This paper provides a new monitoring method based on the attention mechanism and online sequential extreme learning machines(OS-ELM) for nonlinear dynamic process,referred as attentive ***-ELM provides the prediction of outputs and the update of parameters by sequential *** cope with nonlinearity,the attention mechanism is utilized to map data to a high-dimensional feature *** effect of the attention mechanism and the single hidden layer feedforward network trained with OS-ELM work collaboratively in monitoring the real-time process data to detect possible *** addition,fault detection rate and false alarm rate are adopted to evaluate the monitoring *** effectiveness of the proposed method is illustrated by a typically complicated industrial system.

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Contour extraction of a moving vehicle in visible images based on image fusion

Contour extraction of a moving vehicle in visible images bas...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Peng Zhao Ni-Hong Wang Zhao-Bang Pu Department of Automation Measurement and Control Harbin Institute of Technology Haerbin China Information and Computer Engineering Institute North East Forestry University Haerbin China

Infrared (IR) and visible images are commonly used in the detection and tracking of a moving target. A novel contour extraction scheme for a moving vehicle is proposed in this paper. Firstly, a motion segmentation technology is applied to get an initial contour. Secondly, a dynamic contour is applied to represent the initial contour and then converges to the target's contour. Lastly, a novel image fusion is proposed, which minimizes the B-spline norm's square of control point vector's difference in two modal images. Image registration is not required. The experiment indicates that for visible images, average contour extraction error decreases by 58.14% after the fusion. Moreover, a fast iteration algorithm of dynamic contour based on the Newmark algorithm is devised. This image fusion is implemented only with control point vectors and is suitable for real-time processing.

关键词： Image fusion Infrared detectors Vehicle dynamics Infrared imaging Target tracking Motion segmentation Computer vision Image converters Spline Image registration

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Smith predictor-based nonlinear internal model control for water temperature regulation of combi-boiler systems

Smith predictor-based nonlinear internal model control for w...

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2023 Jiangsu Annual Conference on automation, JACA 2023

作者： Liu, Ruihao Cao, Mengying Li, Shihua Yang, Jun The Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China BDR THERMEA HVAC Co. Ltd Jiaxing314000 China The Department of Aeronautical and Automotive Engineering Loughborough University LoughboroughLE11 3TU United Kingdom

ISBN: (纸本)9781839539848

This paper proposes a reliable and practical water temperature control scheme for combi-boiler systems working in domestic hot water mode. In practice, the water temperature regulation process of a combi-boiler is strongly affected by the nonlinearities of actuators, the variation of system parameters caused by the fluctuation of water flow rate, external disturbances, and large, variable time delays. Although there are some results that can address one or two of these factors, a comprehensive and concise control scheme with consideration of all these factors is lacking. This paper aims to change this situation. First, based on the modeling and identification of real combi-boiler systems, the feedback linearization method is adopted in the controller synthesis to solve the effects of actuator nonlinearity. Next, a Smith predictor-based control structure is designed to eliminate system time delays. Finally, based on the internal model control (IMC) theory, an IMC-based parameter tuning method is proposed for the parameter selection of feedback controllers, in which the model parameters used in the controller synthesis are calculated in real-Time based on the system identification results. As a result, the influence of model uncertainties and external disturbances can be effectively attenuated, and only one parameter is required to be tuned for the desired performance. The feasibility and effectiveness of the proposed control scheme are verified by simulations. © The Institution of engineering & Technology 2023.

关键词： Water temperature

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A combined SOC estimation method under varied ambient temperature for a lead-acid battery

A combined SOC estimation method under varied ambient temper...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： M. Coleman C.B. Zhu C.K. Lee W.G. Hurley Power Electronics Research Centre National University of Ireland Galway Ireland Department of Automation Measurement and Control Engineering Harbin Institute of Technology Harbin China

This paper describes a practical ambient temperature dependant battery state of charge (SOC) estimation algorithm that can determine the SOC of a battery operating under load conditions. SOC is an essential parameter in a monitoring system, which is the basis of a battery management system (BMS). Temperature has a profound effect on the actual capacity or SOC of the battery. The proposed model in this paper determines the SOC by incorporating the changes occurring to charge acceptance, power deliverable and internal resistance due to the variations in temperature.

关键词： Temperature dependence Equivalent circuits Voltage Chemicals Power system modeling Power electronics automation Battery charge measurement Power measurement Power engineering and energy

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