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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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Prediction of transmission spectrum from photonic energy band via autoencoder network

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IEEE Photonics Technology Letters 2025年第13期37卷 737-740页

作者： Mo, Wenqin Zhu, Yaling Yin, Yuanxing Dong, Kaifeng Jin, Fang Song, Junlei China University of Geosciences School of Automation Wuhan430074 China China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Optical topological insulators, as an emerging type of photonic material, present substantial benefits for optical communication. The advanced pattern recognition capabilities of deep learning have propelled the inverse design of topological photonic structures into a hot area of research. However, existing methods encounter difficulties with the analysis of intricate band structures. Therefore, we construct a deep learning model capable of handling two-dimensional data of photonic energy band. Utilizing an autoencoder network, our model indirectly trains the photonic energy band and transmission spectrum, by converting them into feature coding. It integrates a transmission spectrum autoencoder and a photonic energy band autoencoder, processing energy band data to predict the corresponding transmission spectrum. The results indicate that compared to convolutional neural network (CNN), our model can accurately predict transmission spectrum, and perform better on both evaluation metrics of RMSE and R2. This work enhances prediction accuracy by leveraging energy band diagrams to constrain optical properties. © 1989-2012 IEEE.

关键词： Topological insulators

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Simulation and optimization of inchworm-like pneumatic crawling actuator based on ABAQUS software 7

Simulation and optimization of inchworm-like pneumatic crawl...

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7th International Conference on Robotics, control and Automation Engineering, RCAE 2024

作者： Mu, Junqi Zong, Xiaofeng Wei, Yiyang Hou, Xuping China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan430074 China

ISBN: (纸本)9798350355642

The actuator, serving as the fundamental power source of a soft robot, functions as its central component. The field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling robots, being an essential branch within the realm of soft robotics, possess notable characteristics such as rapid response time, cost-effectiveness, and human-computer interaction safety. Consequently, they hold significant research value. Among various types of crawling robots that have garnered considerable interest from researchers is the inchworm crawling robot. This paper aims to address the design and development aspects pertaining to inchworm actuators. By utilizing ABAQUS simulation software and taking displacement as the reference parameter, an analysis was conducted to investigate the impact of various geometric parameters on actuator displacement. Additionally, optimization of these geometric parameters was performed. The values of aspect ratio, length-to-width ratio, vertex angle and gap depth suitable for inchworm-like actuator are obtained. These findings are presented for the first time in the field of crawling soft robots and provide a theoretical basis for the development of pneumatic inchworm-like actuators. © 2024 IEEE.

关键词： Aspect ratio

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm 42

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tianyi Ma, Liling Wang, Junzheng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

With the aim of 2-AMT electric vehicles, a comprehensive shift schedule that considers both power and economy is proposed. First, the objective function of the comprehensive shift schedule is constructed, which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit distance. Second, Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift schedule. Finally, AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an NEDC. The results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance, and the economy is optimized by 3%. The feasibility of the comprehensive shift schedule is verified. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electric vehicles

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Multi-UAV Coverage Path Planning Method Based on Improved Particle Swarm Optimization

Multi-UAV Coverage Path Planning Method Based on Improved Pa...

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2024 China Automation Congress, CAC 2024

作者： Zhou, Yan Xiong, Yonghua School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798350368604

The widespread application of unmanned aerial vehicle (UAV) has made the coverage path planning problem for multiple UAV systems a research hotspot. In this paper, we propose a multi-UAV solution to achieve complete coverage of multi-region. Based on this solution, we present an improved particle swarm optimization (PSO) algorithm that combines PSO algorithm, greedy strategy, and back-and-forth (BAF) algorithm. Its purpose is to plan the optimal paths for multi-UAV while achieving the shortest total distance and the highest UAV cooperation efficiency with the minimum number of UAVs, thereby enhancing the multi-UAV coverage cooperation and path optimization capabilities. Simulation results demonstrate the feasibility and superiority of this algorithm. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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Electric Dual Variable Pump controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

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42nd Chinese control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Backstepping

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Robust Model Predictive control for PMSM Drives Against Parameter Mismatch 41

Robust Model Predictive Control for PMSM Drives Against Para...

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第41届中国控制会议

作者： Luwei Shao Wei Shen Fan Li Chuanyu Ge State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an advanced control method of permanent magnet synchronous motor(PMSM),finite control set model predictive control(FCS-MPC) has earned widespread attention for its advantages of intuitive concept,splendid dynamic performance and capability of handling the constraints and ***,the dependence on the model parameter accuracy is the main barrier for FCS-MPC to be applied to the industry *** order to solve this issue,this paper presents a robust FCS-MPC against parameter *** proposed strategy utilizes the prediction error in the d-and q-axis currents during the past instant to calculate the compensation which should be added to the predicted currents in the next ***,the cost function in the proportional-integral form is designed as ***,the simulation results and experimental results prove the proposed method's effectiveness in suppressing the influence of model parameter mismatch on the control performance of PMSM.

关键词： permanent magnet synchronous motor finite control set model predictive control parameter mismatch

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An Adaptive Fault Isolation and Tolerant control Method Based on Consistency Error for Multi-agent systems 41

An Adaptive Fault Isolation and Tolerant Control Method Base...

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第41届中国控制会议

作者： Shanshan Fu Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is aimed at the second-order linear multi-agent formation *** to the failure of the actuator in a node,the wrong interactive information is transmitted between nodes,so that the entire system cannot complete the expected task.A distributed adaptive fault isolation and fault tolerance method based on consistency theory is *** the consistency error variable is designed according to the connection relationship between nodes and the faulty node,which eliminates the influence of the faulty node on the neighbor ***,an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor *** stability of the designed approach is proved by constructing a reasonable Lyapunov *** results show that the proposed adaptive control approach has good robustness.

关键词： Fault Isolation Adaptive control Fault Tolerant control Uniformity

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LAUNet:A Latent Action Units Network for Facial Expression Recognition 41

LAUNet:A Latent Action Units Network for Facial Expression R...

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第41届中国控制会议

作者： Junlin Zhang Kaoru Hirota Yaping Dai Sijie Yin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The inter-class similarity of facial expressions is one of the key challenges in Facial Expression Recognition(FER).In this manuscript,a Latent Facial Action Units Network(LAUNet) is proposed for the problem of inter-class similarity of facial expressions in *** proposed method recognizes subtle differences between facial expressions by learning Latent Facial Action Units Features(LAUFs).Specifically,LAUNet is composed of two parts:the Latent Facial Action Units Features Extraction Network(LEN) and the Latent Facial Action Units Selection Network(LSN).Firstly,LEN extracts LAUFs from the feature map of the backbone using the spatial attention ***,taking advantage of the channel attention mechanism,LSN captures the latent relationships between features from LAUFs to select effective features for *** are performed on the dataset after removing the invalid data of non-face images from the original FER2013 *** with some previous state-of-the-art methods,LAUNet achieves the highest accuracy rate of 71.31%.Depending on the backbone,LAUNet can improve the accuracy by up to 5.46% compared to the original architecture of the backbone.

关键词： Facial Expression Recognition Attention Mechanism Computer Vision

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Improved Model-Predictive Current control of Permanent Magnet Synchronous Motor Drives with Designed Cost Function 41

Improved Model-Predictive Current Control of Permanent Magne...

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第41届中国控制会议

作者： Yi Yang Wei Shen Dan Li Luwei Shao State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Model predictive current control(MPCC) is widely applied in electrical drives and power electronics because of its simplicity and ***,steady-state errors are always present because of the inaccurate prediction induced by changing actual *** paper proposes a simple strategy for improving MPCC performance,which reduces steadystate errors and eliminates the additional prediction *** cost function,which is made up of tracking mistakes,is used in MPCC to choose the best switching *** paper introduces a new cost function that also includes actual current *** is a coefficient of actual current errors that enhances the appropriateness of permanent magnet synchronous motor(PMSM) *** results show superior performance of the proposed MPCC to that of conventional MPCC.

关键词： PMSM MPCC Cost function Current errors

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