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Ship Path Planning Based on Improved Particle Swarm Optimization

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Ship Path Planning Based on Improved Particle Swarm Optimiza...

2018 Chinese automation Congress, CAC 2018

作者： Yujie, Liu Yu, Pan Yixin, Su Huajun, Zhang Danhong, Zhang Yong, Song School of Automation Wuhan University of Technology Wuhan China Purchasing Department China Nuclear Control System Engineering Co. LTD. Beijing China

ISBN: (纸本)9781728113128

This paper deeply analyzes and studies the ship path planning problem. An improved particle swarm optimization algorithm named chaos multi-population particle swarm optimization(CMPSO) is designed for ship path planning. Firstly, the marine environment model is established based on the link graph method, and the Dijkstra algorithm is used to plan the initial path;Secondly, the improved particle swarm algorithm is used for path planning, a multi-population mechanism is established to balance the population's global search ability and local search ability;Finally, simulate the initial path planning and global static path planning. The results show that the proposed algorithm has better performance than path planning algorithm based on linearly decreasing weight particle swarm optimization(LDW-PSO). © 2018 IEEE.

关键词： Chaos theory

Digital Quadruplets for Cyber-Physical-Social systems based Parallel Driving: From Concept to Applications

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arXiv 2020年

作者： Liu, Teng Yang, Xing Wang, Hong Tang, Xiaolin Chen, Long Yu, Huilong Wang, Fei-Yue State Key Laboratory of Mechanical Transmissions College of Automotive Engineering Chongqing University Chongqing400044 China Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Vehicle and Mobility Tsinghua University Beijing China Waytous Inc. Qingdao Shandong266109 China Department of Mechanical and Mechatronics Engineering University of Waterloo N2L 3G1 Canada State Key Laboratory for Management and Control of Complex System Institute of Automation Beijing China

Digital quadruplets aiming to improve road safety, traffic efficiency and driving cooperation for future connected automated vehicles are proposed with the enlightenment of ACP based parallel driving. The ACP method denotes Artificial societies, Computational experiments and Parallel execution modules for cyber-physical-social systems. Four agents are designed in the framework of digital quadruplets: descriptive vehicles, predictive vehicles, prescriptive vehicles and real vehicles. The three virtual vehicles (descriptive, predictive, and prescriptive) dynamically interact with the real one in order to enhance the safety and performance of the real vehicle. The details of the three virtual vehicles in the digital quadruplets are described. Then, the interactions between the virtual and real vehicles are presented. The experimental results of the digital quadruplets demonstrate the effectiveness of the proposed framework. Copyright © 2020, The Authors. All rights reserved.

关键词： Vehicles

Monitoring of Ash Deposition on the Heated Surface of the Economizer of Boiler in Coal-Fired Power Station

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Monitoring of Ash Deposition on the Heated Surface of the Ec...

第30届中国过程控制会议（CPCC 2019）

作者： CAO-Chao CHEN-Xin WANG-Jingcheng SHI-Yuanhao Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University School of Electrical and Control Engineering North University of China

The problem of ash and slagging on the heating surface of coal-fired power station boilers has always existed in the production and operation process of modern coal-fired power *** smog and slagging on the heated surface will not only cause the heat exchange efficiency to deteriorate, but also cause safety accidents such as corrosion of the heated surface and tube *** order to solve this problem, it is necessary to monitor the ash deposition of the boiler heating surface and develop a pollution degree standard for the soot blowing *** paper presents a monitoring model based on the ash deposition of the economizer heating surface of a coal-fired power station *** the boiler of 600 MW generator set of a power plant in Jiaxing, Zhejiang as the research object, the measured data obtained by the on-site DCS, then the wavelet denoising process, and then the thermodynamic formula is used to calculate the ash pollution factor which can characterize the degree of ash deposition on the heated surface of the *** experimental results prove the validity of the above model and have important significance for the later research on intelligent soot blowing operation

关键词： Coal-fired power plant boiler Economizer Ash deposition Monitoring model,Cleanliness factor

Robust Semi-Global Leaderless Consensus and Containment control of Identical Linear systems with Imperfect Actuators

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Journal of systems Science & Complexity 2018年第1期31卷 69-86页

作者： SHI Liangren ZHAO Zhiyun LIN Zongli Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240 China Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology) Ministry of Education Shanghai 200237 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.

关键词： Consensus containment control dead zone leaderless consensus multi-agent systems saturation

Intelligent Physical Attack Against Mobile Robots With Obstacle-Avoidance

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arXiv 2019年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping The Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism from external observation. The salient novelty of our work lies in revealing the possibility that physical-based attacks with intelligent and advanced design can present real threats, while without prior knowledge of the system dynamics or access to the internal system. This kind of attack cannot be handled by countermeasures in traditional cyberspace security. To practice, the cornerstone of the proposed attack is to actively explore the complex interaction characteristic of the victim robot with the environment, and learn the obstacle-avoidance knowledge exhibited in the limited observations of its behaviors. Then, we propose shortest-path and hands-off attack algorithms to find efficient attack paths from the tremendous motion space, achieving the driving-to-trap goal with low costs in terms of path length and activity period, respectively. The convergence of the algorithms is proved and the attack performance bounds are further derived. Extensive simulations and real-life experiments illustrate the effectiveness of the proposed attack, beckoning future investigation for the new physical threats and defense on robotic systems. Copyright © 2019, The Authors. All rights reserved.

关键词： Mobile robots

Predicting Network controllability Robustness: A Convolutional Neural Network Approach

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arXiv 2019年

作者： Lou, Yang He, Yaodong Wang, Lin Chen, Guanrong The Department of Electrical Engineering City University of Hong Kong Hong Kong The Department of Automation Shanghai Jiao Tong University Shanghai 200240 China The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China

Network controllability measures how well a networked system can be controlled to a target state, and its robustness reflects how well the system can maintain the controllability against malicious attacks by means of node-removals or edge-removals. The measure of network controllability is quantified by the number of external control inputs needed to recover or to retain the controllability after the occurrence of an unexpected attack. The measure of the network controllability robustness, on the other hand, is quantified by a sequence of values that record the remaining controllability of the network after a sequence of attacks. Traditionally, the controllability robustness is determined by attack simulations, which is computationally time consuming. In this paper, a method to predict the controllability robustness based on machine learning using a convolutional neural network is proposed, motivated by the observations that 1) there is no clear correlation between the topological features and the controllability robustness of a general network, 2) the adjacency matrix of a network can be regarded as a gray-scale image, and 3) the convolutional neural network technique has proved successful in image processing without human intervention. Under the new framework, a fairly large number of training data generated by simulations are used to train a convolutional neural network for predicting the controllability robustness according to the input network-adjacency matrices, without performing conventional attack simulations. Extensive experimental studies were carried out, which demonstrate that the proposed framework for predicting controllability robustness of different network configurations is accurate and reliable with very low overheads. © 2019, CC BY.

关键词： Complex networks

Towards optimal robustness of network controllability: An empirical necessary condition

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arXiv 2019年

作者： Lou, Yang Wang, Lin Tsang, Kim Fung Chen, Guanrong Department of Electrical Engineering City University of Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

To better understand the correlation between network topological features and the robustness of network controllability in a general setting, this paper suggests a practical approach to searching for optimal network topologies with given numbers of nodes and edges. Since theoretical analysis is impossible at least in the present time, exhaustive search based on optimization techniques is employed, firstly for a group of small-sized networks that are realistically workable, where exhaustive means 1) all possible network structures with the given numbers of nodes and edges are computed and compared, and 2) all possible node-removal sequences are considered. An empirical necessary condition (ENC) is observed from the results of exhaustive search, which shrinks the search space to quickly find an optimal solution. ENC shows that the maximum and minimum in- and out-degrees of an optimal network structure should be almost identical, or within a very narrow range, i.e., the network should be extremely homogeneous. Edge rectification towards the satisfaction of the ENC is then designed and evaluated. Simulation results on large-sized synthetic and real-world networks verify the effectiveness of both the observed ENC and the edge rectification scheme. As more operations of edge rectification are performed, the network is getting closer to exactly satisfying the ENC, and consequently the robustness of the network controllability is enhanced towards optimum. Copyright © 2019, The Authors. All rights reserved.

关键词： controllability

Independent Joint control system Design Method for Robot Motion Reconstruction 4th

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Independent Joint Control System Design Method for Robot Mot...

4th International Conference on Advanced engineering Theory and Applications, AETA 2017

作者： Tran, Manh Son Le, Nhat Binh Nguyen, Van Trong Dang, Dac Chi Choi, Eun Ho Kim, Young Bok Department of Mechanical System Engineering Pukyong National University Busan48547 Korea Republic of Department of Automation Control Faculty of Electrical and Air Conditioning Engineering Cao Thang Technical College Ho Chi Minh City Viet Nam

ISBN: (纸本)9783319698137

It is a challenging and hard problem to control the multi-joint robot manipulators due to the nonlinearities which are extremely and strongly coupled in the set of dynamic equations governing the motion dynamics of the robot system. This paper presents a robot control technique for definitely reconstructing motions. The controlled robot is used in small industries such as welding and painting work. The proposed method is a simple one and decentralized linear joint control strategy. Exactly describing, it is an user-oriented method and no need complex computation. In this study, at first, the mathematical model of each joint of the 5 DOF robot arm is derived individually. Secondly, to improve the control performance in transient response, nonlinear controllers such as feedback linearization as well as sliding mode control are exploited to compensate the nonlinearities and uncertainties. Finally, experiments are carried out to verify the effectiveness and feasibility of the presented approach, and the results are compared to those of the tuned PID controller. The results point out that the proposed control scheme is simple, realistic and can be easily employed on robot manipulators in the real world. © Springer International Publishing AG 2018.

关键词： Decentralized control

Multi-modal digital twins for industrial anomaly detection: Framework, method, and application

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Robotics and Computer-Integrated Manufacturing 2026年 97卷

作者： Cheng Ren Ming Li Cailian Chen Xinping Guan George Q. Huang Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Hung Hom Hong Kong China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China Research Institute for Advanced Manufacturing The Hong Kong Polytechnic University Hung Hom Hong Kong China Collaborative Generative AI (Co-GenAI) Research Centre The Hong Kong Polytechnic University Hung Hom Hong Kong China Research Centre for Digital Transformation of Tourism The Hong Kong Polytechnic University Hung Hom Hong Kong China Centre for Transformative Garment Production Hong Kong Science Park Pak Shek Kok Hong Kong China

Anomaly detection plays a key role in maintaining the reliable and stable operation of industrial systems, especially in high-reliability fields. Conventional single-modal data cannot provide comprehensive information about the detected object, resulting in false or missed detection. To address the challenges of complex anomaly patterns and heterogeneous data in industrial scenarios, we propose MMDT-IAD, a multi-modal digital twin (DT)-based anomaly detection framework that integrates edge–cloud collaboration. By lever- aging physical, geometric, visual, and semantic modalities, MMDT-IAD constructs a comprehensive virtual representation of monitored objects and enables real-time, scalable detection across distributed industrial environments. Next, to enable efficient fusion of heterogeneous DT modalities, we propose a One-Primary- Three-Auxiliary (1P3A) cross-modal decision fusion strategy. Finally, we apply the MMDT-IAD frame-work to the anomaly detection of aviation electrical connector pins, and present a detailed application process. The experimental results prove the effectiveness of the MMDT-IAD framework in detecting abnormal pins. Moreover, we discuss the generality of MMDT-IAD framework considering several common industrial anomalies. These results highlight the potential of MMDT-IAD framework and 1P3A method to significantly improve anomaly detection in other complex industrial scenarios.

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