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System Simulation Technology and its Application (CCSSTA), IEEE China Conference on

作者： Zikang Cheng Jingbo Xue Bo Wang Guangzhong Dong Jingwen Wei Chunlin Chen Department of Control Science and Intelligence Engineering Nanjing University Naning China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China

ISBN: (数字)9798350366600

ISBN: (纸本)9798350366617

The Hybrid A* algorithm is suitable for Ackermann-type mobile robots with nonholonomic constraints. However, in practical path planning, such issues as long search times, inefficient search efficiency, and excessive planning path changes causing unstable robot motion still exist. To improve the effectiveness of path planning, this paper optimizes the Hybrid A* algorithm by using variable search step size and designing a path evaluation function during node expansion. Path planning experiments are conducted based on simulation and physical experimental platforms. The results show that the improved algorithm reduces the search nodes and planning time, effectively enhancing the algorithm’s search performance and efficiency. In addition, it avoids pose errors caused by reverse driving, ensuring the priority and smoothness of forward driving, and achieves efficient and stable path planning for Ackermann-type mobile robots.

关键词： Robot motion Path planning Planning Systems simulation Mobile robots

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The fuzzy sliding mode control-based autonomous vehicle controller design

The fuzzy sliding mode control-based autonomous vehicle cont...

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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Xinxin Liu Xiaojie Su Jianxing Liu Department of Automation Nanjing University of Information Science and Technology Nanjing Department of Automation Chongqing University Chongqing Department of Control Science and Engineering Harbin Institute of Technology Harbin

Fuzzy control and sliding mode control technologies play an increasingly important role in a myriad of applications, like the autonomous vehicle systems. In this paper, the fuzzy model for the autonomous vehicle system with a dynamic positioning system is established firstly. Then the stability analysis and controller synthesis are provided, the solution method of the sliding mode control gain is synthesized. Finally, a simulation example provides evidence of the availability of the control strategy.

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Evaluation of the Energy Efficiency of Software Calculations in the Design of Microcontroller Devices 17

Evaluation of the Energy Efficiency of Software Calculations...

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17th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and Computer engineering, TCSET 2024

作者： Topalov, Andrii Styslo, Taras Tkach, Vitalii Peschanenko, Volodymyr Styslo, Oksana Skrypyuk, Rostyslav Admiral Makarov National University of Shipbuilding Department of computerized control systems Mykolaiv Ukraine King Danylo University Department of IT Ivano-Frankivsk Ukraine Kherson State University Department of computer science and software engineering Ivano-Frankivsk Ukraine Ivano-Frankivsk National Technical University of Oil and Gas Department of automation and computer-integrated technologies Ivano-Frankivsk Ukraine

ISBN: (纸本)9798331520564

The paper presents a study of the effectiveness of software from the point of view of minimizing the energy consumption of microprocessor devices. In this case, the programming of the microcontroller in various programming languages for arithmetic operations, as well as data output through the port, is considered. In the course of the tests, the peculiarities of the application of this or that program and their operation, taking into account the energy saving of the microcontroller, are noted. © 2024 IEEE.

关键词： Microcontrollers

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Self-Tuning Subordinate control System Based on Neural Network for Nonlinear Electric Drivers of Lower Limbs of Exoskeleton

Self-Tuning Subordinate Control System Based on Neural Netwo...

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2022 Conference of Russian Young Researchers in Electrical and Electronic engineering, ElConRus 2022

作者： Belov, Mikhail P. Dang Truong, Dinh Khoa, Tran Dang Saint Petersburg Electrotechnical University Department of Robotics and Industrial Automation Leti Saint Petersburg Russia Le Quy Don Technical University Department of Control Engineering Hanoi Viet Nam

ISBN: (纸本)9781665409933

This article proposes a subordinate system control with a self-turning adaptation of the coefficients of the PID controller of position control loop by an analog neural network for nonlinear electric drive of lower limb exoskeleton (LLE) under the influence of uncertain parameters of the dynamic model, nonlinear elements (friction, elasticity of the dynamic model), and stochastic external disturbances. To correct the coefficients of traditional PID controllers, it is proposed to use a neural network (NN), which allows self-tuning the coefficients directly from its outputs based on errors of the control system with the possibility of self-determination of the Jacobian matrix of the neural network. The paper also produces the dynamics model of exoskeleton movement with five links of two legs and a body, considering nonlinear electric drives and external disturbances acting. The efficiency of the proposed control method with the joint motion angular response of exoskeleton is proved by results simulation in the environment Matlab/ Simulink. © 2022 IEEE.

关键词： controllers

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Development of a prototype of an intelligent system for predicting the quality of dairy manufacture 11

Development of a prototype of an intelligent system for pred...

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11th IEEE International Conference on Intelligent Systems, IS 2022

作者： Smitiukh, Yaroslav Samoilenko, Yuliia Kostiuk, Yuliia Kryvoruchko, Olena Stepashkina, Kateryna National University of Food Technologies Department of Automation and Computer Technologies of Control Systems Kyiv Ukraine State University of Trade and Economics Department of Software Engineering and Cyber Security Kyiv Ukraine

ISBN: (纸本)9781665456562

The technological process of the churning process in continuous butter manufacture were considered. The qualitative indicator of the water content of butter was modeled on the basis of a set of industrial data using an artificial neural network (ANN). The prototype of an intelligent system for predicting of the water content of butter allows to increase the information support of the operator-technologist. The proposed model predicts the water content of butter with an error of less than 2%. The input variables of the forecast model prototype are cream fat content, cream ripening temperature, cream supply temperature, frequency of revolutions of the stirrer of the whipping device, and consumption of the normalizing component. Further research is aimed at the development of a decision support information system for dairy manufacture and should be integrated into the subsystem of automated control of the technological process to ensure proper functioning in real time. © 2022 IEEE.

关键词： Intelligent systems

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation

Video Streaming Protocols Comparison in Field Experiments fo...

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Mechanical engineering and Robotics Research (ICMERR), International Conference on

作者： Manuel J. Fernandez Riccardo Franceschini Julian Cayero Becerra Matteo Fumagalli Department of Electrical Engineering Automation and Control Technical University of Denmark Kongens Lyngby Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola del Vallès Barcelona Spain

ISBN: (数字)9798331509262

ISBN: (纸本)9798331509279

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios.

关键词： Wireless communication Transport protocols Visualization Protocols Streaming media Throughput Real-time systems Stability analysis Reliability Robots

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells 32

Application of Deep Learning Method to Estimate Bottomhole P...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Cheng, Haibo Li, Shichao Zeng, Peng Vyatkin, Valeriy State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Luleå University of Technology Electrical and Space Engineering Department of Computer Science Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350399714

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry. © 2023 IEEE.

关键词： Long short-term memory

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loTs and Loop-Mediated Isothermal Amplification- Based Biosensing using Cloud-Enabled Features

loTs and Loop-Mediated Isothermal Amplification- Based Biose...

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2022 Medical Technologies Congress, TIPTEKNO 2022

作者： Bayindir, Taha Degirmenci, Mehmet Ergenc, Ali Fuat Elitas, Meltem Sabanci University Faculty of Engineering and Natural Sciences Istanbul Turkey Izmir Institute of Technology Department of Bioengineering Izmir Turkey Istanbul Technical University Faculty of Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9781665454322

Internet-of-Things technology (IoTs) have accelerated biosensor applications in all fields. Loop-mediated isothermal amplification (LAMP)-based biosensor technologies in conjunction with smartphone detection have been adequate to cover the demands of mobile diagnostics. The ease of use, affordability, portability, high sensitivity, flexibility, and specificity demands of point-of-care detection can be achieved by low-cost electronic components, 3-dimensional printing technologies, capturing images of calorimetrically detected readouts made our system a promising approach for real-time point-of-detection in the field. In this study, we implemented a cloud service to our LAMP-based biosensor. We previously performed bacteria detection using colony-based LAMP device and now distributed the optical readouts of the assay using smartphones. We transferred the obtained image and results of the assays through cloud. Our user-friendly interface simplifies the data processing, it directly digitized the readouts and eliminates the need of data interpretation. © 2022 IEEE.

关键词： Biosensors

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Container Distance Estimation for Automated RTG via Improved SOLOv2 Instance Segmentation 43

Container Distance Estimation for Automated RTG via Improved...

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43rd Chinese control Conference, CCC 2024

作者： Yu, Zhengtao Yang, Jun Su, Jinya Southeast University School of Automation Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing210096 China Loughborough University Department of Aeronautical and Automotive Engineering LoughboroughLE11 3TU United Kingdom

ISBN: (纸本)9789887581581

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 cab. Specifically, 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. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Image segmentation

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Optimization of aero-engine pipeline for avoiding vibration based on length adjustment of straight-line segment

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Frontiers of Mechanical engineering 2022年第1期17卷 100-116页

作者： Wenhao JI Wei SUN Donghai WANG Zhonghua LIU School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Department of Education of China Northeastern UniversityShenyang 110819China Shenyang Area 2nd Military Representative Room of Air Force Equipment Department Shenyang 110043China

In the design and troubleshooting of aero-engine pipeline,the vibration reduction of the pipeline system is often achieved by adjusting the hoop layout,provided that the shape of pipeline remains ***,in reality,the pipeline system with the best antivibration performance may be obtained only by adjusting the pipeline *** this paper,a typical spatial pipeline is taken as the research object,the length of straight-line segment is taken as the design variable,and an innovative optimization method of avoiding vibration of aero-engine pipeline is *** relationship between straight-line segment length and parameters that determine the geometric characteristics of the pipeline,such as the position of key reference points,bending angle,and hoop position,are derived in *** on this,the parametric finite element model of the pipeline system is *** the maximum first-order natural frequency of pipeline as the optimization objective and introducing process constraints and vibration avoidance constraints,the optimization model of the pipeline system is *** genetic algorithm and the golden section algorithm are selected to solve the optimization model,and the relevant solution procedure is described in ***,two kinds of pipelines with different total lengths are selected to carry out a case *** on the analysis of the influence of straight-line segment length on the vibration characteristics of the pipeline system,the optimization methods developed in this paper are *** show that the developed optimization method can obtain the optimal single value or interval of the straight-line segment length while avoiding the excitation *** addition,the optimization efficiency of the golden section algorithm is remarkably higher than that of the genetic algorithm for length optimization of a single straight-line segment.

关键词： length adjustment spatial pipeline aero-engine vibration avoidance optimization genetic algorithm golden section algorithm

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