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SSRN 2024年

作者： Pu, Qian Shen, Haikuo Zhu, Liqiang Zhu, Xiaomin Chen, Hongtian The School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China The Department of Automation Shanghai Jiao Tong University Shanghai200240 China

Energy consumption is one of the key topics of urban railway systems from the perspective of operating costs and environmental friendliness. Interstation speed profile and timetable optimization are two main means to achieve energy saving. A bi-level energy-efficient optimization method is proposed in this study to associate the advantages of speed profile optimization and timetable optimization and reinforce the optimization effect. Firstly, for lower-level optimization, an interstation speed profile optimization model is built based on multiple running schemes, and a multi-objective evolutionary algorithm combined with an analytic function is proposed to obtain Pareto front solutions. Then, for upper-level optimization, an energy-efficient timetable optimization model is constructed based on Pareto front solutions of each running section acquired from lower-level optimization. Accordingly, the solving method with an evolutionary algorithm is proposed to minimize total net energy consumption. Finally, the case study of the Yizhuang line shows the effectiveness of the proposed method and 27.56% overall energy saved. Lastly, the results with different scenes revealed the influence of each level optimization on the overall results. © 2024, The Authors. All rights reserved.

关键词： Operating costs

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Neural Network Regression Analysis of Magnetic Sensor Data for Spatial Magnet Positioning

Neural Network Regression Analysis of Magnetic Sensor Data f...

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Electrical, electronic and Computing engineering (IcETRAN), International Conference on

作者： Vladimir Sibinović Mirko Raković Department of Automatic Control Faculty of Electronic Engineering University of Niš Niš Serbia Chair of Mechatronics Robotics and Automation Faculty of Technical Science Novi Sad Serbia

ISBN: (数字)9798350386998

ISBN: (纸本)9798350387001

This paper deals with the magnet position estimation based on the measurements from multiple Hall sensors. Estimation of the position is obtained from trained artificial neural networks. Data are gathered using a custom sensor board that has eight three-axis Hall sensors on it, and correlation between magnetic field and position was determined to be able to estimate position in X and Y directions. First measurements were made to determine the optimal height of the magnet for later data gathering. The outcome of the research was evaluated by comparing the ground truth with the estimated values of the best-trained network to determine the error of estimation. Precise measurement of the position of the magnet is intended to be used for the development of a tactile sensor that estimates the contact force through the displacement of the magnet in the deformable layer.

关键词： Magnetic field measurement systematics Magnetic sensors Layout Estimation Tactile sensors Artificial neural networks

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiaohan Zhu Ran Bu Zhen Li Fan Xu Hesheng Wang Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Artificial Intelligence Research Institute and School of Information and Control Engineering China University of Mining and Technology

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works).

关键词： Three-dimensional displays Accuracy Shape Force Time series analysis Estimation Surgery Soft robotics Pulse width modulation Real-time systems

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Motor Fault Diagnosis Under Complex Working Conditions Based on Signal Fusion and CA-CNN

Motor Fault Diagnosis Under Complex Working Conditions Based...

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Chinese automation Congress (CAC)

作者： Mingxuan Cai Qi Liu Yuxiang Liu Bo Yang Department of Automation Shanghai Jiao Tong University shanghai China Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Ministry of Education of China Shanghai China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Accurate fault diagnosis plays a key role in the safe and efficient operation of electrical motors. Aiming at multiclass motor fault diagnosis under complex working conditions, a signal fusion-based fault diagnosis framework is proposed. Measurement parameters from different sensors are first transformed by wavelet denoising and fast Fourier transform (FFT). Then, multiple parameters spectrum and working condition information are integrated and converted into high-dimension matrices. Finally, a channel-attention-based convolution neural network (CA-CNN) is proposed to extract fault patterns from a reconstructed matrix and output diagnosis results. Experiment results on both simulated and experimental datasets verify the effectiveness of the proposed method.

关键词： Fault diagnosis Employee welfare Wavelet transforms Accuracy Fast Fourier transforms Motors Sensors Numerical models Velocity measurement Matrix converters

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An Integrated Smart Manufacturing Platform Powered by Microservices

An Integrated Smart Manufacturing Platform Powered by Micros...

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Asian control Conference

作者： Yuxiang Liu Mengqi Han Annan Xu Qi Liu Bo Yang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

With the rapid development of the manufacturing industry, traditional control systems can no longer meet the requirements of flexibility, efficiency, and intelligence for smart manufacturing. In order to fully utilize technologies such as microservices and enhance the flexibility of smart manufacturing, we propose a microservice-based architecture integrating sensing, communication, computation, and control, dedicated to achieving integrated management and configuration of the production process. In this architecture, each production stage is designed as an independent microservice, capable of being flexibly deployed in various edge controllers. Therefore, a universal edge controller can simultaneously act as a PLC, router, data acquisition device, and edge server, greatly simplifying the complexity of equipment deployment. The microservice-based integrated architecture not only improves the efficiency of data routing but also helps simplify the integration of new sensors and actuators, making adjustments of production lines more convenient, thereby enhancing the scalability and flexibility of the system. We implemented the proposed architecture based on a validation scenario, and the experimental results demonstrate the enormous development potential of this architecture.

关键词： Scalability Microservice architectures Restful API Computer architecture Production Routing Sensor systems

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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map

LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Po...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Xinrui Wu Jianbo Xu Puyuan Hu Guangming Wang Hesheng Wang 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 Department of Engineering University of Cambridge Cambridge U.K

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline termed LHMap-loc is proposed, which achieves accurate and efficient monocular localization in LiDAR maps. Firstly, feature encoding is carried out on the original LiDAR point cloud map by generating offline heat point clouds, by which the size of the original LiDAR map is compressed. Then, an end-to-end online pose regression network is designed based on optical flow estimation and spatial attention to achieve real-time monocular visual localization in a pre-built map. In addition, a series of experiments have been conducted to prove the effectiveness of the proposed method. Our code is available at: https://***/IRMVLab/LHMap-loc.

关键词： Location awareness Point cloud compression Visualization Laser radar Accuracy Robot vision systems Real-time systems

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Speed Measurement Delay and its Influence on IFOC Tuning

Renewable Energy and Power Quality Journal

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Renewable Energy and Power Quality Journal 2024年第1期22卷 137-142页

作者： Barrero, F. Satué, M.G. Colodro, F. Department of Electronic Engineering University of Sevilla Camino de los Descubrimientos sn Sevilla41092 Spain Department of System and Automation Engineering E.T.S.I University of Sevilla Camino de los Descubrimientos sn Sevilla41092 Spain

The Indirect Field-Oriented control technique has been in use since the 1960s, with some innovations added to the basic original setting. Although variable-speed drive technology has evolved considerably, basic assumptions remain in place. This paper deals with the problem of sensing the mechanical speed using optical devices. This aspect has not been considered in previous works. To focus the contribution, finite-state model predictive control is used in this paper for stator current control. The outer (speed) loop considers PI control as is usually the case. The experimental results presented here show the need for new tuning methods. © 2024, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved.

关键词： Predictive control systems

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Design and Implementation of an Image Processing-Based Ping Pong Training Robot

Design and Implementation of an Image Processing-Based Ping ...

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Innovations in Intelligent systems and Applications Conference

作者： Mert Aydın Sezercan Bektaş Ahmet Ajam Ahmet Kağızman Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Institute of Science Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

This study aims to develop an image-processing-based ping-pong training robot to facilitate effective practice for ping-pong players. In the developed system, the image of the ping-pong player is processed from the camera integrated into the robot, the player's position is determined and the ball is directed to areas that are difficult for the player to reach. The reason for launching the ball into difficult areas is to improve the players' physical and strategic abilities. In the process of throwing the ball, the ball is placed in the hopper, driven from the hopper to the launch point with the help of a servo motor, and launched with the help of two DC motors. Experimental results confirm that the robot accurately detects the player's position and successfully directs the ball to the intended target area. Furthermore, the findings demonstrate that this system, which integrates image processing and robotic control technologies, provides a robust and adaptable training tool for ping-pong players.

关键词： Training Technological innovation Image processing Robot vision systems Process control DC motors Cameras Servomotors Intelligent systems Robots

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Design. Implementation, and control of a Novel Automated Manual Transmission (AMT) system for Manual Transmission Bicycles

Design. Implementation, and Control of a Novel Automated Man...

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Innovations in Intelligent systems and Applications Conference

作者： Fehmi Can Ay Bengisu Kılınç Talha Enes Ercan Ahmet Kağızman Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Institute of Science Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

In recent years, the bicycle industry has undergone continuous transformation through the introduction of novel technologies and innovations. Automated Manual Transmission (AMT) system, which is widely used in motor vehicles and defined as automating the traditional manual gearbox through electronic components and actuators, has an important place in the automotive industry due to its advantages such as fuel efficiency, low cost, and driver comfort. However, a similar system is not yet available on bicycles. This article describes developing a new gear-shifting system that enables the manual gear-shifting mechanism in bicycles to be automated with an intelligence-based system. The developed system automatically performs the most appropriate gear change by processing the data received from the sensors, such as inclination, wheel, and pedal cadence, thus providing a more efficient and comfortable driving experience that does not require effort. The system has been tested by integrating it into a bicycle with manual transmission and it has been confirmed that automatic gear shifts were successful.

关键词： Industries Technological innovation Gears Wheels Manuals Bicycles Sensor systems Intelligent systems Intelligent sensors Vehicles

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