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6th International Conference on Robotics, control and automation engineering, RCAE 2023

作者： Zhang, Jing Yan, Haoming Chen, Hongtian Xu, Shuiqing Liu, Yiqi School of Automation Science & Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China College of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China

ISBN: (纸本)9798350315301

Considering the high energy consumption problem in the wastewater treatment process, this paper proposes a multi-objective optimization control scheme based on NSGA-II algorithm. The proposed scheme can not only ensures meet effluent quality requirements but also can achieves energy cost savings. This method takes the aeration energy consumption and pumping energy consumption of the system as the optimization goal with the effluent water quality being the constraint condition. At the same time, the adaptive fuzzy PID controller is designed to ensure the control accuracy and stability of the controlled system. The results of simulation experiments validated in benchmark simulation platform, BSM1, show that, compared with PI control and single-objective optimization control, the proposed optimization scheme in this paper can achieve the desired quality of the effluent water withmore energy-saving. © 2023 IEEE.

关键词： Energy utilization

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Design for Broadband Matching of Dipole Antenna 9

Design for Broadband Matching of Dipole Antenna

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9th IEEE All-Russian Microwave Conference, RMC 2024

作者： Obukhovets, Victor A. Samburov, Nikolay V. Southern Federal University Institute of Radio Engineering Systems and Control Department of Antennas and Radio Transmitting Devices Taganrog Russia Typhoon JSC Microwave Laboratory Kaluga Russia

ISBN: (纸本)9798331540944

The report describes the design of a symmetrical dipole radiator with a matching reactive loop. The possibility of broadband matching and obtaining the maximum directivity is investigated. The possibility of matching in a frequency band of at least 80% is demonstrated. The results of modeling and prototyping are presented. © 2024 IEEE.

关键词： Microstrip antennas

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Matrix-Scaled Consensus of Uncertain Networked systems 42

Matrix-Scaled Consensus of Uncertain Networked Systems

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42nd Chinese control Conference, CCC 2023

作者： Cheng, Bin Li, Gang College of Electronics and Information Engineering Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China

ISBN: (纸本)9789887581543

This paper studies the distributed matrix-scaled consensus, which can be treated as a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering. Distributed protocols are expected to achieve cluster consensus with respect to the matrix-based weight and deal with the unknown disturbances present to the system dynamics. A static distributed protocol is first presented, including a linear term and a nonlinear term based on the sliding-mode control technique, under which the matrix-scaled consensus is realized and the disturbances are resisted. Then, a distributed adaptive algorithm is designed by using the adaptive method to introduce time-varying gains, obeying differential equations. It is to be pointed out that the static protocol is more concise if the parameter condition is satisfied, and the adaptive protocol is completely distributed and relies on no global information when designing or using the algorithm. Simulation examples are provided to further verify the designed algorithms. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Adaptive algorithms

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Unmanned Air-Ground Vehicles Path Planning Using Model Predictive control

Unmanned Air-Ground Vehicles Path Planning Using Model Predi...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Gu, Yuanwen Wang, Mi Wu, Huaining Li, Chenlong Li, Gang School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Hangzhou International Innovation Institute Beihang University Hangzhou311115 China Hangzhou Innovation Institute Beihang University Hangzhou310051 China Department of Control Science and Engineering Tongji University Shanghai201800 China

ISBN: (纸本)9789819639649

In this article, the problem of air-ground vehicles path planning is investigated. The objective is to navigate each vehicle from its starting position to the intended destination, while avoiding collisions with obstacles and other vehicles. First, by combining the objective functions of unmanned ground vehicle (UGV) and unmanned aerial vehicles (UAVs) with the constraints of system equations, control constraints and obstacle avoidance constraints, the vehicles’ path planning is formulated as multiple model predictive control (MPC) problems. Second, considering the interdependencies inherent in these optimization problems, we employ an assumed state method to decouple them effectively. Third, the control inputs of the UGV and UAVs are obtained by solving quadratic programming problems and thus the vehicles’ path can be obtained. Finally, a simulation example is shown to illustrate the effectiveness of the proposed path planning method. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Predictive control systems

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Novel vision-LiDAR fusion framework for human action recognition based on dynamic lateral connection

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IET Cyber-systems and Robotics 2024年第4期6卷 21-31页

作者： Fei Yan Guangyao Jin Zheng Mu Shouxing Zhang Yinghao Cai Tao Lu Yan Zhuang The School of Control Science and Engineering Dalian University of TechnologyDalianChina Technology Centre of Dalian Customs Dalian CustomsDalianChina ZX‐YZ School of Network Science Haikou University of EconomicsHainanChina The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijingChina

In the past decades,substantial progress has been made in human action ***,most existing studies and datasets for human action recognition utilise still images or videos as the primary ***-based approaches can be easily impacted by adverse environmental *** this paper,the authors propose combining RGB images and point clouds from LiDAR sensors for human action recognition.A dynamic lateral convolutional network(DLCN)is proposed to fuse features from *** RGB features and the geometric information from the point clouds closely interact with each other in the DLCN,which is complementary in action *** experimental results on the JRDB-Act dataset demonstrate that the proposed DLCN outperforms the state-of-the-art approaches of human action *** authors show the potential of the proposed DLCN in various complex scenarios,which is highly valuable in real-world applications.

关键词： neural network-based pedestrian identification sensor fusion

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Dynamic modeling and simulation of blade-casing system with rubbing considering time-varying stiffness and mass of casing

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Applied Mathematics and Mechanics(English Edition) 2025年第5期46卷 849-868页

作者： Hui MA Hong GUAN Lin QU Xumin GUO Qinqin MU Yao ZENG Yanyan CHEN School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of ChinaNortheastern UniversityShenyang 110819China Sunny Optical Technology(Group)Co.Ltd. Ningbo 315400Zhejiang ProvinceChina Aircraft Strength Institute of China Xi’an 710065China AECC Sichuan Gas Turbine Research Institute Chengdu 610500China

As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic *** this paper,to investigate the dynamic responses and wear characteristics of the system,the laminated shell element is used to establish the finite element model(FEM)of a flexibly coated casing *** the shell element,the blade is modeled,and the surface stress of the blade is *** stress-solving method of the blade is validated through comparisons with the measured time-domain waveform of the ***,a dynamic model of a blade-flexibly coated casing system with rubbing is proposed,accounting for the time-varying mass and stiffness of the casing caused by coating *** effects of the proposed flexible casing model are compared with those of a rigid casing model,and the stress changes induced by rubbing are *** results show that the natural characteristics of the coated casing decrease due to the coating *** flexibly coated casing model is found to be more suitable for studying casing ***,the stress changes caused by rubbing are slight,and the change in the stress maximum is approximately 5%under the influence of the abrasive coating.

关键词： dynamic modeling flexibly coated casing rubbing coating wear nonlinear vibration

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A Stackelberg Game Approach for Three-Player Autonomous Racing 42

A Stackelberg Game Approach for Three-Player Autonomous Raci...

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42nd Chinese control Conference, CCC 2023

作者： Hu, Zhenghao Li, Xiuxian Meng, Min College of Electronics and Information Engineering Tongji University The Department of Control Science and Engineering Shanghai201800 China The Shanghai Research Institute for Autonomous Intelligent Systems Shanghai201210 China

ISBN: (纸本)9789887581543

This paper considers the autonomous racing of three cars, including a team of two cars and an opponent car. The competition is modeled as a two-leader one-follower Stackelberg game which can be called the sequential game. Leaders select the trajectories which make the max payoffs of the team and the follower does its best response to the actions of the team. Given that the Stackelberg equilibrium is not unique in both games, rather than selecting one strategy stochastically, the cost functions are designed for the players to cope with multiple strategies that have the same progress. The competitions are performed in a receding horizon fashion, and the aim of the research is to study the effects of cooperation and make the team win the competition under collision and road constraints. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Cost functions

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Modeling and Operating Point Analysis for Aquatic Translational Motion of a Cross-Medium Vehicle 42

Modeling and Operating Point Analysis for Aquatic Translatio...

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42nd Chinese control Conference, CCC 2023

作者： Dou, Minghao Liu, Xuchen Huang, Dongyue Wang, Biao Cui, Jinqiang Ren, Qinyuan Dou, Lihua Chen, Jie Chen, Ben M. Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin N.T. Hong Kong College of Automation Engineering Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing China Peng Cheng Laboratory Guangdong Shenzhen China College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou China Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9789887581543

Modeling of cross-medium vehicles with complex shapes still requires a thorough investigation. This paper proposes a multi-method combination modeling approach to tackle such a problem. First-principle model is derived to determinate a model structure. Experiments are then set up to estimate parameters related to its rigid-body model and propulsion system. Computational fluid dynamics (CFD) is performed to calculate and identify coefficients related to surrounding fluid. Base on the model obtained, we systematically investigate the possible steady motion of the cross-medium vehicle and analyze their related performance. Results are instrumental for designing controllers for the vehicle to perform autonoumous missions. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Computational fluid dynamics

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Optimizing Handwritten Character Recognition systems: Neural Networks vs. Statistical Methods

Optimizing Handwritten Character Recognition Systems: Neural...

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2024 IEEE International Conference on Intelligent systems and Advanced Applications, ICISAA 2024

作者： Agrawal, Vikash K. Bogireddy, Srinivasa Rao Patil, Lalit N. Sonekar, Mahesh Patil, Yashraj M. Panwar, Vikas Singh Dr. D. Y. Patil Institute of Technology Department of Automation and Robotics Engineering Pune India Horizon Systems Inc PhoenixAZ United States Dr. D. Y. Patil Institute of Technology Department of Mechanical Engineering Pune India

ISBN: (纸本)9798331539948

This investigation focuses on the identification of handwritten characters using neural network technology combined with statistical methods. Handwriting recognition has gained popularity due to its wide range of applications in document processing, signature authentication, and digitized communication. The use of neural networks, particularly deep learning models, has greatly enhanced the accuracy and efficiency of character recognition systems. This study provides a comprehensive analysis aimed at evaluating the effectiveness of neural networks in recognizing handwritten characters. Various neural network architectures, including convolution and recurrent neural networks, are explored;each designed to address specific challenges in character recognition. Additionally, statistical methods are employed for feature extraction, further improving recognition accuracy. Extensive testing and benchmarking are conducted on diverse handwritten datasets to assess the performance of the proposed approaches. The results demonstrate the significant benefits of combining artificial neural networks with statistical techniques to achieve high levels of accuracy in character recognition, paving the way for practical applications. This study makes substantial contributions to the field of handwritten character recognition by highlighting the synergistic advantages of neural networks and statistical methods, which will aid in the development of more accurate and robust authentication systems for future applications. © 2024 IEEE.

关键词： Convolution

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