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NA-CPG: A robust and stable rhythm generator for robot motion control

Biomimetic Intelligence & Robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Partially Occluded Face Expression Recognition with CBAM-Based Residual Network for Teaching Scene

Partially Occluded Face Expression Recognition with CBAM-Bas...

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2023 China automation Congress, CAC 2023

作者： Bai, Yanxing Chen, Luefeng Li, Min Wu, Min Pedrycz, Witold Hirota, Kaoru School of Automation China University of Geosciences Wuhan430074 China School of Automation Ministry of Education 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 Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Department of Computer Engineering Sariyer Istanbul34396 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

ISBN: (纸本)9798350303759

In this paper, a deep residual network based on convolutional block attention module (CBAM) is proposed, which is utilized for feature extraction of partially occluded face expression data. The proposed method overcomes the problem of localized occlusion face feature extraction by focusing on the regions and channels containing important information in the occluded face data through CBAM. Multi-task cascaded convolutional networks (MTCNN) are firstly utilized to localize the key regions of face emotion, and then deep emotion features are extracted by CBAM-ResNet network. The final emotion labels are generated. The effectiveness of this paper's method is verified on the RAF-DB dataset and the occluded CK+ dataset. The experimental accuracy in the RAF-DB dataset is 76.3%, which is 3.74% and 1.64% higher than the accuracy produced by the method of RGBT, and the WLS-RF, respectively. Application experiments are carried out in the real teaching scenario, which verifies the applicability of the algorithm in the real teaching scene. © 2023 IEEE.

关键词： Emotion Recognition

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Dynamic Hard Shoulder Running Lane control

Dynamic Hard Shoulder Running Lane Control

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Rodrigo Castelan Carlson Eduardo Rosa de Lima Eduardo Rauh Müller Felipe Augusto de Souza Konstantinos Ampountolas Department of Automation and Systems Federal University of Santa Catarina Florianópolis Brazil Energy Systems Argonne National Laboratory Lemont IL USA Department of Mechanical Engineering Automatic Control & Autonomous Systems Laboratory University of Thessaly Volos Greece

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This work presents a novel and practical real-time switching control policy for the dynamic hard shoulder running lane control on motorways. Using the hard shoulder as a running lane in peak traffic periods increases the motorway capacity at bottlenecks, increasing throughput and avoiding the onset of congestion. The proposed policy enables a smooth switching on of the hard shoulder lane at peak periods. It is based on properties of the fundamental diagram of motorway traffic with easy and unambiguous interpretation and implementation by traffic operators. Simulation analysis on a 5 km-long motorway stretch with three lanes and one hard shoulder lane using the AIMSUN microscopic simulator is demonstrated. The results have showed that the proposed switching control improves the motorway throughput compared to rival control schemes.

关键词： State feedback Sensitivity System performance Roads Switches control systems Throughput Real-time systems Safety Vehicle dynamics

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An analysis towards integrated control of wastewater collecting and treatment systems

An analysis towards integrated control of wastewater collect...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Iulian Vasiliev Laurentiu Luca Marian Barbu Ramon Vilanova Sergiu Caraman Department of Automation and Electrical Engineering Dunărea de Jos University of Galati Galati Romania Department of Automation Systems and Advanced Control Research Autonomous University of Barcelona Barcelona Spain

This paper deals with an analysis regarding the effect of Sewer Network operation on the performances of the integrated wastewater collecting and treatment system. The analysis is done by considering various control actions for the output storage tank of the sewer network, comparing a series of performance indicators defined for both subsystems with their “no control” value. Two cases have been considered regarding the control actions for the output storage tank of the sewer network: 1. keeping the output valve at a constant opening and 2. keeping the output valve at the maximum opening possible such as the outflow is limited to a constant value. While the second case did not prove advantageous, the first one showed that lowering the sewer network output valve opening would improve the integrated system performances.

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Studying the Influence of Working Fluid Temperature on the Performance of an Electrohydraulic Servo System in Dynamic Mode

Studying the Influence of Working Fluid Temperature on the P...

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Automatics and Informatics (ICAI), International Conference

作者： Stanimir Yordanov Krasimir Ormandzhiev Georgi Mihalev Krasen Kostov Veselin Mitev Department of Automation Information and Control Systems Technical University of Gabrovo Gabrovo Bulgaria Department of Power Engineering Technical University of Gabrovo Gabrovo Bulgaria

The paper examines the influence of the working fluid temperature on power losses in an electro-hydraulic servo system. The behavior of the system has been investigated under Proportional-Integral (PI) control at different working fluid temperatures and various control setpoints. An Adaptive PID controller has been synthesized, utilizing feedback from sensors to measure various system parameters (such as temperature, pressure, and RPM), and then adapting the parameters of the P, I, and D components of the controller based on this data to achieve optimal regulation.

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Sliding Window-based Particle Swarm optimization Algorithm for a Sewer Network

Sliding Window-based Particle Swarm optimization Algorithm f...

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European control Conference (ECC)

This paper deals with the optimization of a sewer network using a Sliding Window-based Particle Swarm optimization (PSO) algorithm. The sewer network corresponds to a city with a population of 250,000 inhabitants, its model being implemented in BSM Sewer. The optimization of the sewer network is done with respect to the amount of the discharged water minimizing this way the environmental impact of the wastewater collecting and transport systems. In the simulations, an influent containing three components was considered: domestic, pluviometric and industrial influent. Daily weather forecast for influent was considered. The control strategy proposed in this paper is based on the calculus of the optimal control actions for each individual tank with respect to the liquid level in that tank. The optimal controls were determined over a 24-hour sliding time window. The optimization algorithm was run over a time horizon of 28 days, during which two events were considered, one of rain and one of storm. As the daily forecast of the influent is not 100% accurate, a disturbed influent was considered to observe if the performance of the algorithm is maintained in this scenario. The simulation results were compared with those obtained in the operating mode “no control” (all control actions set at 100%).

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Predictive control of Irrigation Canals Considering Well-being of Operators

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IFAC-PapersOnLine 2023年第2期56卷 731-736页

作者： R. Ranjbar A. Sadowska J.M. Maestre P.J. van Overloop B. De Schutter Systems and Automation Engineering Department University of Seville Spain Schlumberger Cambridge Research Cambridge United Kingdom Water Management Department Delft University of Technology The Netherlands. Delft Center for Systems and Control Delft University of Technology The Netherlands

We propose a model-predictive control (MPC) approach to solve a human-in-the-loop control problem for a non-automatic networked system with uncertain dynamics. There are no sensors or actuators installed in the system and we involve humans in the loop to travel between various nodes in the network and to provide the remote controller with measurements as well as actuating the system according to the control requirements. We compute the time instants at which the measurements and actuations should take place to yield better performance with respect to current control methods. We present simulation results using a numerical model of a real canal, the West-M canal in Arizona, and we demonstrate the superiority of the new method over previously proposed ones for such setting.

关键词： MPC human-in-the-loop networked system optimisation uncertainty

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Measurement-Based control for Minimizing Energy Functions in Quantum systems

arXiv

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arXiv 2023年

作者： Clausen, Henrik Glavind Rahman, Salahuddin Abdul Karabacak, Özkan Wisniewski, Rafal Section for Automation and Control Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

In variational quantum algorithms (VQAs), the most common objective is to find the minimum energy eigenstate of a given energy Hamiltonian. In this paper, we consider the general problem of finding a sufficient control Hamiltonian structure that, under a given feedback control law, ensures convergence to the minimum energy eigenstate of a given energy function. By including quantum non-demolition (QND) measurements in the loop, convergence to a pure state can be ensured from an arbitrary mixed initial state. Based on existing results on strict control Lyapunov functions, we formulate a semidefinite optimization problem, whose solution defines a non-unique control Hamiltonian, which is sufficient to ensure almost sure convergence to the minimum energy eigenstate under the given feedback law and the action of QND measurements. A numerical example is provided to showcase the proposed methodology. © 2023, CC BY-NC-ND.

关键词： Hamiltonians

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber Technology in automation, control, and Intelligent systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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Finite-time coordinated path-following control of leader-following multi-agent systems

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Frontiers of Information Technology & Electronic engineering 2022年第10期23卷 1511-1521页

作者： Weibin CHEN Yangyang CHEN Ya ZHANG School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Robot Department Jiangsu Automation Research InstituteLianyungang 222061China

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite *** is assumed that the topology for the virtual leader and followers is *** additional condition of the so-called barrier function is designed to make all agents move within a limited area.A novel continuous finite-time path-following control law is first designed based on the barrier function and *** a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as *** settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

关键词： Finite-time Coordinated path-following Multi-agent systems Barrier function

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