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第42届中国控制会议

作者： Feng Liu Wei Wang Gang Cai Feifan Zhou Hua O Wang Xiuqin Yang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

Based on fractional calculus theory and reaction-diffusion equation theory,a fractional-order time-delay reaction-diffusion neural network with Neumann boundary conditions is *** constructing the phase space basis based on the Laplace operator eigenvector,the system equation is linearized to obtain the characteristic ***,the characteristic equation is analyzed,and the local stability of the system at the equilibrium point is *** taking the time delay as the bifurcation parameter,the stability changes of the system at the equilibrium point and the generation conditions of the Hopf bifurcation are studied when the time delay ***,a state feedback controller is designed to control the bifurcation of the ***,the theoretical derivation is verified by numerical simulation.

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Design and Configuration of IoT-Based Application for Vacuum Parameter Monitoring and Trigger control Output for Thermovacuum System

Design and Configuration of IoT-Based Application for Vacuum...

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International Conference on automation, Signal Processing, Instrumentation and control, i-CASIC 2020

作者： Vaghela, Purvil Dhodi, D.K. Mani, Geetha School of Electrical Engineering Department of Control and Automation Vellore Institute of Technology Vellore Tamil Nadu India Ahmedabad India

ISBN: (纸本)9789811582202

Thermovacuum test facilities are used to conduct thermal vacuum performance testing of satellite subsystems and integrated packages inside the leak-tight vacuum chambers. Thermal vacuum chambers simulate in-orbital temperature and vacuum conditions for the spacecraft to be tested before launch. The Internet of Things (IoT) is an emerging revolutionary future generation technology, and here, its use is extended to thermovacumm systems to measure one of its important parameter "Vacuum". In this paper, real-time vacuum parameter is monitoring and provides a control signal for further process control. The designed system provides wide ranging and continuous access to the operator by utilizing the potential of IoT technology. The proposed system is cost effective as it completely eliminates the vacuum indicator metre. Further, the implementation of this project is on open source Arduino hardware including an Ethernet shield to create wired EtherNet/Wi-Fi connection. The major aim of this work is to develop IoT-based application for monitoring and controlling vacuum parameter of the thermovacuum system. The work can be extended to similar other thermal vacuum chambers for various other system parameters monitoring and controlling. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Ethernet

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Path Planning for Autonomous Vehicle Turning at Intersections with Signal Temporal Logic Specifications

Path Planning for Autonomous Vehicle Turning at Intersection...

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International Conference on Computer and automation engineering, ICCAE

作者： Yujin Wang Zhaoyan Huang Shiying Dong Hongqing Chu Xiang Yin Bingzhao Gao School of Automotive Studies Tongji University Shanghai China Department of Control Science and Engineering Jilin University Changchun China Department of Automation Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350370058

ISBN: (纸本)9798350370164

This work establishes signal temporal logic specifications for driving tasks that autonomous vehicle should execute when turning at intersections. The specifications are based on traffic regulations of China. By encoding signal temporal logic specifications as mixed-integer constraints, optimization problems could be established for path planning. By solving the problems with Gurobi optimizer, safe paths could be obtained. Through this work, it is demonstrated that signal temporal logic is a profound tool for formalizing driving tasks and solving path planning problems in autonomous driving. The feasibility of the proposed method is demonstrated via a numerical experiment.

关键词： Constraint optimization automation Turning Path planning Regulation Encoding Logic

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Summary of PID control System of Liquid Level of a Single-Capacity Tank

Summary of PID Control System of Liquid Level of a Single-Ca...

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2021 International Conference on Advances in Optics and Computational Sciences, ICAOCS 2021

作者： Jiang, Pei Department of Automation School of Control and Computer Engineering North China Electric Power University Heibei Province071003 China

Liquid level is one of the control parameters widely used in industrial production. Accurate control of liquid level bears on the quality, efficiency and market of products, as well as the effect and safety of production. Therefore, the research on liquid level control has practical significance and broad application prospects. In view of this, this article firstly briefly analyzes the characteristics of the single-Tank water tank level system, and then focuses on the realization of classical, fuzzy and neural network PID (Proportion Integral Differential) algorithm for the single-Tank water tank level system. Finally, the validity of algorithm is proved by the system real-Time simulation curve, which provides a more comprehensive reference for similar control systems. © Published under licence by IOP Publishing Ltd.

关键词： Water tanks

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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

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High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

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Sensor-based Multi-agent Coverage control with Spatial Separation in Unstructured Environments

arXiv

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arXiv 2024年

作者： Wang, Xinyi Xu, Jiwen Gao, Chuanxiang Chen, Yizhou Zhang, Jihan Wang, Chenggang Ding, Yulong Chen, Ben M. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong N.T. Shatin Hong Kong Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai200240 China Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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A low-cost gold-coated optical fiber sensor for in-situ microplastic detection in water

A low-cost gold-coated optical fiber sensor for in-situ micr...

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BioSensors Conference (BioSensors), IEEE

作者： Noppasin Ajchareeyasoontorn Jade Udomkittivorakul Tatinee Changlor Chanyanut Rungchaiwattanakul Jenyuk Lohwacharin Charusluk Viphavakit International School of Engineering (ISE) Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Environmental Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Intelligent Control Automation of Process Systems Research Unit Faculty of Engineering Chulalongkorn University Bangkok Thailand

An optical fiber-based sensor in the configuration of single-multi-single (SMS) modes structure is proposed to detect polyethylene microplastic particles inside aquatic environments via the interaction of light at the interface of optical fiber and the microplastic solutions. Microplastics negatively affect biological systems since living creatures may consume the pollutant. The data on the relationship between the transmittance spectrum and its corresponding wavelength value can be used to correlate and identify the concentration of the microplastic solution. Deposition of gold on the sensing region through sputtering is investigated to improve the sensitivity and reliability of the SMS sensor. This suggests the potential for a gold-coated SMS sensor for in-situ, low-cost and real-time microplastic sensing applications.

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ChatSTL: A Framework of Translation from Natural Language to Signal Temporal Logic Specifications for Autonomous Vehicle Navigation out of Blocked Scenarios

ChatSTL: A Framework of Translation from Natural Language to...

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International Conference on Computer and automation engineering, ICCAE

ISBN: (数字)9798350370058

ISBN: (纸本)9798350370164

This paper addresses the quandary that autonomous vehicles may encounter in blocked scenarios, and proposes a novel framework of translation from natural language to Signal Temporal Logic specifications based on Large Language Model, which helps autonomous vehicles navigate out of blocked scenarios through path planning. We utilize the profound capability of reasoning and planning of GPT-3.5, design a set of predicate functions and formulate the prompts in order to generate accurate Signal Temporal Logic specifications describing driving tasks. The feasibility of the proposed framework is demonstrated via a numerical experiment.

关键词： Navigation Computational modeling Natural languages Path planning Cognition Planning Numerical models

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Learning-Based Defect Recognitions for Autonomous UAV Inspections

arXiv

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arXiv 2023年

作者： Liu, Kangcheng Han, Xiaodong Chen, Ben M. The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong The College of Computer and Control Engineering Minjiang University Fuzhou China

Automatic crack detection and segmentation play a significant role in the whole system of unmanned aerial vehicle inspections. In this paper, we have implemented a deep learning framework for crack detection based on classical network architectures including Alexnet, VGG, and Resnet. Moreover, inspired by the feature pyramid network architecture, a hierarchical convolutional neural network (CNN) deep learning framework which is efficient in crack segmentation is also proposed, and its performance of it is compared with other state-of-the-art network architecture. We have summarized the existing crack detection and segmentation datasets and established the largest existing benchmark dataset on the internet for crack detection and segmentation, which is open-sourced for the research community. Our feature pyramid crack segmentation network is tested on the benchmark dataset and gives satisfactory segmentation results. A framework for automatic unmanned aerial vehicle inspections is also proposed and will be established for the crack inspection tasks of various concrete structures. All our self-established dataset and codes are open-sourced at: https://***/KangchengLiu/Crack-Detection- and-Segmentation-Dataset-for-UAV-Inspection. © 2023, CC BY.

关键词： Network architecture

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