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43rd Chinese control Conference, CCC 2024

作者： Wang, Yao Ren, Cheng Xu, Jiaxin Chen, Cailian Guan, Xinping Shanghai Jiao Tong University And Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581581

Aviation connectors are responsible for information and energy transmission in the aircraft electrical wiring interconnection system (EWIS). Even a tiny shrinkage of any connector pin may lead to a critical impact on the reliability and stability of the EWIS. However, the current detection method of connector pin shrinkage mainly relies on manual visual inspection, which is prone to missed and false detection. Additionally, traditional 2D machine vision methods face challenges in dealing with fine pins and deep calibers of connectors. To address this issue, this paper designs a defect detection device and proposes a 3D-enabled shrinkage pin detection (3D-SPD) algorithm. For the device, a 4-degree-of-freedom (4-DOF) support mechanism is designed to collect the connector point cloud based on the imaging principle of a 3D structured light camera. Then, a preprocessed method is presented to extract defective regions from the raw point cloud. Finally, 3D-SPD algorithm can automatically select the reference plane and detect the pin position, enabling online detection of connector shrinkage pins. Experiment results show that 3D-SPD algorithm is effective in detecting shrinkage pin defects on various types of aviation connectors, with an accuracy rate of 98.62% and a shrinkage pin detection rate of 100%. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Machine vision

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Edge computing aileron mechatronics using antiphase hysteresis Schmitt trigger for fast flutter suppression

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control Theory and Technology 2025年第1期23卷 153-160页

作者： Tangwen Yin Dan Huang Xiaochun Zhang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai200240China School of Aeronautics and Astronautics Shanghai Jiao Tong UniversityShanghai200240China Control Division Shanghai Aircraft Design and Research InstituteShanghai200210China

An aileron is a crucial control surface for *** jitter or shaking caused by the aileron mechatronics could have catastrophic consequences for the aircraft’s stability,maneuverability,safety,and *** paper presents a robust solution in the form of a fast flutter suppression digital control logic of edge computing aileron mechatronics(ECAM).We have effectively eliminated passive and active oscillating response biases by integrating nonlinear functional parameters and an antiphase hysteresis Schmitt *** findings demonstrate that self-tuning nonlinear parameters can optimize stability,robustness,and *** the same time,the antiphase hysteresis Schmitt trigger effectively rejects flutters without the need for collaborative navigation and *** hardware-in-the-loop simulation results confirm that this approach can eliminate aircraft jitter and shaking while ensuring expected stability and *** conclusion,this nonlinear aileron mechatronics with a Schmitt positive feedback mechanism is a highly effective solution for distributed flight control and active flutter rejection.

关键词： Aileron Edge computing Flutter suppression Mechatronics Nonlinear hysteresis control Positive feedback

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Boosting Explore-Exploit Behavior for Navigating Vehicle by Maintaining Informative Topological Frontier

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Liu, Qiming Cui, Xinru Liu, Zhe Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

Target search in unknown environments places high demands not only on an autonomous vehicle's ability to perceive and interpret target cues, but also on its conscious of collecting these cues by active exploration. While existing navigation methods have successfully built target-driven policies by maintaining memory of explored areas, there has been a lack of focus on facilitating target-aware exploration-the informative frontier information at unexplored yet visible areas is often overlooked. In this paper, we introduce a novel topology-based memory structure, Frontier-enhanced Topological Memory (FTM), and a Hierarchical Topology Encoding and Extraction (HTEE) module, fostering the autonomous vehicle's awareness of both environmental exploration and target approach. Specifically, FTM innovatively incorporates informative ghost nodes on traditional topological map to represent unexplored yet visible regions. We leverage an online-trained implicit scene representation to estimate the positions and generate features of these ghost nodes. The HTEE then employs implicit graph convolutions and attention mechanisms to extract cognitive information from FTM, taking into account the hierarchical memory structure, target cues, and current state. Our design bolsters cognitive navigation decisions. The experiments in the high-fidelity environments, including performance tests, visualizations, and interpretability experiments, validate the effectiveness of our approach in enhancing the vehicle's exploratory behavior. The improved exploration awareness for target cue collection, in turn, enhances the success rate and path efficiency of target search. Furthermore, we demonstrate the adaptability of our algorithm in real-world physical environments. IEEE

关键词： Data mining

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Path Planning Based on A-Star and Dynamic Window Approach Algorithm for Wild Environment

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Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 725-736页

作者： DONG Dejin DONG Shiyin ZHANG Lulu CAI Yunze Department of Automation Shanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai200240China Shanghai Electro-Mechanical Engineering Institute Shanghai201109China

The path planning problem of complex wild environment with multiple elements still poses *** paper designs an algorithm that integrates global and local planning to apply to the wild environmental path *** modeling process of wild environment map is *** optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning ***,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional *** the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple *** improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.

关键词： path planning path re-planning wild environment A-Star algorithm dynamic window approach

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Kalman Filter Adaptive Speed Tracking control for High-speed Trains with Noise Interference 7

Kalman Filter Adaptive Speed Tracking Control for High-speed...

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7th International Conference on Intelligent Robotics and control Engineering, IRCE 2024

作者： Zhang, Chunli Xie, Yuwei Yan, Lei Qian, Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing College of Automation and Information Engineering Xi'an China

ISBN: (纸本)9798350352399

In this paper, high-speed train is regarded as a single prime point, a new tracking control method combining adaptive control and Kalman filtering is proposed. This paper solves the noise interference problem in the tracking control process of high-speed train. The method first linearises the original system, then uses Kalman filtering to do model estimation, and the controller is designed for the predictive model through adaptive control. Finally, MATLAB is used to simulate and verify the effectiveness of this method. This proposed method successfully solves the problems of nonlinearity, noise interference and unknown parameters in system. The error caused by resistance in the high-speed train tracking control process can be dealt with effectively. © 2024 IEEE.

关键词： Kalman filters

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Research and application of composite stochastic resonance in enhancement detection

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Chinese Physics B 2024年第1期33卷 264-273页

作者：高蕊焦尚彬薛琼婕 School of Automation and Information Engineering Xi'an University of TechnologyXi'an 710048China School of Electronic and Electrical Engineering Baoji University of Arts and SciencesBaoji 721016China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an 710048China

Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combining the Woods–Saxon(WS) model and the improved piecewise bistable model. The model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation, all the parameters in the new model have no coupling characteristics. Under α stable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has higher noise utilization and better detection ***, the new model is applied to image denoising, the results showed that under the same conditions, the output peak signal-to-noise ratio(PSNR) and the correlation number of NCSR method is higher than that of other commonly used linear denoising methods and improved piecewise SR methods, the effectiveness of the new model is verified.

关键词： Woods–Saxon improved piecewise model composite stochastic resonance(SR) image denoising

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Synthesis of Failure-Robust Plans for Multi-Robot systems Under Temporal Logic Specifications 19

Synthesis of Failure-Robust Plans for Multi-Robot Systems Un...

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19th IEEE International Conference on automation Science and Engineering, CASE 2023

作者： Huang, Feifei Li, Shaoyuan Yin, Xiang Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Department of Automation Shanghai200240 China

ISBN: (纸本)9798350320695

In this study, we address the multi-robot path planning problem for tasks specified by linear temporal logic (LTL) formulae. Unlike existing studies, we take into account the possibility of robot failures, where a failed robot can no longer contribute to the completion of the LTL task. Our objective is to find a failure-robust path, which ensures that the LTL task can always be fulfilled, even if a maximum number of robots fail at any point during execution. To achieve this, we extend the mixed-integer linear programming (MILP) approach to the failure-robust setting. To overcome the computational complexity, we identify a fragment of LTL formulae called the free-union-closed LTL, which allows for more scalable synthesis without considering the global combinatorial issue. We present case studies to demonstrate our findings. Our approach provides a novel solution to the problem of multi-robot path planning under robot failures, offering a practical and efficient way to achieve robustness in the face of unforeseen events. © 2023 IEEE.

关键词： Multipurpose robots

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Resilient control of flexible hypersonic vehicles against unmatched distributed faults

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Chinese Journal of Aeronautics 2024年第5期37卷 60-70页

作者： Dong ZHAO Wenjing REN School of Artificial Intelligence Anhui UniversityHefei 230601China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China School of Electrical Engineering and Automation Hefei University of TechnologyHefei 230009China

This paper studies a robust fault compensation and vibration suppression problem of flexible hypersonic *** controlled plant is represented by a cascade system composed of a nonlinear Ordinary Differential Equation(ODE)and an Euler-Bernoulli Beam Equation(EBBE),in which the vibration dynamics is coupled with the rigid dynamics and suffers from distributed faults.A state differential transformation is introduced to transfer distributed faults to an EBBE boundary and a longitudinal dynamics is refined by utilizing T-S fuzzy IF-THEN rules.A novel T-S fuzzy based fault-tolerant control algorithm is developed and related stability conditions are *** robust exponential stability and well-posedness are proved by using the modified l_(0)-semigroup based Lyapunov direct approach.A simulation study on the longitudinal dynamics of flexible hypersonic vehicles effectively verifies the validity of the developed theoretical results.

关键词： Flexible hypersonic vehicles ODE-EBBE cascade Robust exponential stability Unmatched distributed fault compensation Vibration suppression

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Online Optimization in Power systems With High Penetration of Renewable Generation:Advances and Prospects

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 839-858页

作者： Zhaojian Wang Wei Wei John Zhen Fu Pang Feng Liu Bo Yang Xinping Guan Shengwei Mei Key Laboratory of System Control and Information Processing Ministry of Education of ChinaDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Power System and the Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Institute of High Performance Computing(IHPC) Agency for Science Technology and Research(A*STAR)Singapore 138632Singapore

Traditionally,offline optimization of power systems is acceptable due to the largely predictable loads and reliable *** increasing penetration of fluctuating renewable generation and internet-of-things devices allowing for fine-grained controllability of loads have led to the diminishing applicability of offline optimization in the power systems domain,and have redirected attention to online optimization ***,online optimization is a broad topic that can be applied in and motivated by different settings,operated on different time scales,and built on different theoretical *** paper reviews the various types of online optimization techniques used in the power systems domain and aims to make clear the distinction between the most common techniques *** particular,we introduce and compare four distinct techniques used covering the breadth of online optimization techniques used in the power systems domain,i.e.,optimization-guided dynamic control,feedback optimization for single-period problems,Lyapunov-based optimization,and online convex optimization techniques for multi-period ***,we recommend some potential future directions for online optimization in the power systems domain.

关键词： optimization Lyapunov optimization online convex optimization online optimization optimization-guided control

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AIoT for Aircraft Final Assembly:An Intelligent and Collaborative Framework

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Journal of Communications and information Networks 2024年第3期9卷 262-276页

作者： Cheng Ren Xiaojing Wen Xinping Guan Cailian Chen Yehan Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Aircraft final assembly line(AFAL)involves thousands of processes that must be completed before ***,the heavy reliance on manual labor in most assembly processes affects the quality and prolongs the delivery *** the advent of artificial intelligence of things(AIoT)technologies has introduced advancements in certain AFAL scenarios,systematically enhancing the intelligence level of the AFAL and promoting the widespread deployment of artificial intelligence(AI)technologies remain significant *** address these challenges,we propose the intelligent and collaborative aircraft assembly(ICAA)framework,which integrates AI technologies within a cloud-edge-terminal *** ICAA framework is designed to support AI-enabled applications in the AFAL,with the goal of improving assembly efficiency at both individual and multiple process *** analyze specific demands across various assembly scenarios and introduce corresponding AI technologies to meet these *** three-tier ICAA framework consists of the assembly field,edge data platform,and assembly cloud platform,facilitating the collection of heterogeneous terminal data and the deployment of AI *** framework enhances assembly efficiency by reducing reliance on manual labor for individual processes and fostering collaboration across multiple *** provide detailed descriptions of how AI functions at each level of the ***,we apply the ICAA framework to a real AFAL,focusing explicitly on the flight control system testing *** practical implementation demonstrates the effectiveness of the framework in improving assembly efficiency and promoting the adoption of AIoT technologies.

关键词： intelligent aircraft final assembly line AIoT cloud-edge-terminal framework design

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