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arXiv 2024年

作者： Li, Jiajia Lammers, Kyle Yin, Xunyuan Yin, Xiang He, Long Lu, Renfu Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States School of Chemical and Biomedical Engineering Nanyang Technological University Singapore Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Department of Agricultural and Biological Engineering Pennsylvania State University United States United States Department of Agriculture Agricultural Research Service East LansingMI United States Department of Mechanical Engineering Michigan State University East LansingMI United States

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset (https://***/datasets/jiajiali/metafruit) and detection framework (https://***/JiajiaLi04/FMFruit) are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, CC BY-NC-SA.

关键词： Fruits

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Submodularity-based False Data Injection Attack Scheme in Multi-agent Dynamical systems

arXiv

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arXiv 2022年

作者： Luo, Xiaoyu Zhao, Chengcheng Fang, Chongrong He, Jianping The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China The Department of Electrical and Computer Engineering University of Victoria BC Canada

Consensus in multi-agent dynamical systems is prone to be sabotaged by the adversary, which has attracted much attention due to its key role in broad applications. In this paper, we study a new false data injection (FDI) attack design problem, where the adversary with limited capability aims to select a subset of agents and manipulate their local multi-dimensional states to maximize the consensus convergence error. We first formulate the FDI attack design problem as a combinatorial optimization problem and prove it is NP-hard. Then, based on the submodularity optimization theory, we show the convergence error is a submodular function of the set of the compromised agents, which satisfies the property of diminishing marginal returns. In other words, the benefit of adding an extra agent to the compromised set decreases as that set becomes larger. With this property, we exploit the greedy scheme to find the optimal compromised agent set that can produce the maximum convergence error when adding one extra agent to that set each time. Thus, the FDI attack set selection algorithms are developed to obtain the near-optimal subset of the compromised agents. Furthermore, we derive the analytical suboptimality bounds and the worst-case running time under the proposed algorithms. Extensive simulation results are conducted to show the effectiveness of the proposed algorithm. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

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Effect of O2on Partial Discharge Characteristic of C5F10O/CO2Gas Mixture

Effect of O2on Partial Discharge Characteristic of C5F10O/CO...

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2021 International Conference on Advanced electrical Equipment and Reliable Operation, AEERO 2021

作者： Xia, Yalong Liu, Fan Wei, Zhuo Zhang, Xiaoxing Han, Pu Xiao, Song Li, Zhen Li, Yi Li, Yalong Research Institute State Grid Sichuan Electric Power Cheng Du China Wuhan University School of Electrical Engineering and Automation Wuhan China Hubei University of Technology Hubei Key Lab. for High-efficiency Utiliz. of Solar Ener. and Oper. Control of Energy Storage System Wuhan China

ISBN: (纸本)9781665402644

C5F10O, as a new eco-friendly gas insulating medium with great application potential, has attracted much attention from researchers. There are few studies on the partial discharge (PD) characteristics of C5F10O/CO2O2 gas mixture at present. In this paper, we used needle-plate electrodes to simulate the extremely inhomogeneous electric field caused by the defects of metal protrusions in electrical equipment and tested the partial discharge initial voltage (PDIV) of C5F10O/CO2O2 gas mixture. The effect of oxygen on the partial discharge characteristics of C5F10O gas mixture was revealed. We found that C5F10O gas mixture has an obvious polarity effect, and PDIV+ is always larger than PDIV-. The addition of oxygen reduces the PDIV- and PDIV+ of C5F10O gas mixture and the reduction effect on PDIV+ is more obvious. Therefore, the degrading effect of O2 on the partial discharge characteristics of C5F10O gas mixture should be considered and the proportion of oxygen in C5F10O gas mixture should be strictly controlled. © 2021 IEEE.

关键词： Partial discharges

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MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

arXiv

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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

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Hierarchical Reactive Power Support Strategy of Doubly-fed Wind Farm Based on Active Disturbance Rejection control

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Smart Power 2024年第6期52卷 77-83页

作者： Gu, Shaohua Yang, Dejian Wang, Puyu Sang, Shun Key Laboratory of Modern Power System Simulation Control and New Technology of Green Electric Energy Ministry of Education Jilin132012 China School of Automation Nanjing University of Science and Technology Nanjin210094 China School of Electrical Engineering Nantong University Nantong226019 China

With the scale networking of wind power generation, voltage issues in the power system have become increasingly prominent. To improve the transient response characteristics of doubly-fed induction generator wind farm during grid faults, a hierarchical reactive power support strategy based on active disturbance rejection control (ADRC) is proposed. Firstly, the reactive power boundaries of doubly-fed induction generator (DFIG) is described. Secondly, a layered reactive power support strategy for doubly fed wind farms is designed, ADRC is utilized in the station controller to generate voltage control signals and employ variable gain coefficient assistance in unit controller to adjust the voltage. Finally, Washout filters are used to suppress transient overvoltage. A simulation model of doubly fed wind farm based on EMTP-RV is constructed. The simulation analysis shows that the proposed control strategy has good support effect when the grid voltage drops. © 2024 Zhihui Dianli Bianjibu. All rights reserved.

关键词： Disturbance rejection

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Distributed Prescribed-Time Formation Tracking for General Linear Multiagent systems

Distributed Prescribed-Time Formation Tracking for General L...

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International Conference on control and automation (ICCA)

作者： Zhexin Shi Yikun Yang Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing P. R. China Shenyuan Honors College Beihang University Beijing P. R. China Institute of Artificial Intelligence Beihang University Beijing P. R. China Institute of Unmanned System Beihang University Beijing P. R. China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This paper studies prescribed-time formation tracking problems for general linear multiagent systems with a leader of unknown input. First, by introducing a time-varying parametric Lyapunov equation, a distributed prescribed-time formation tracking protocol is proposed for each follower to accomplish an expected formation within a prescribed time, and simultaneously follow the leader's state trajectory. Then, adaptive gains are developed to achieve formation tracking in a fully distributed manner and to compensate for the leader's unknown input. Furthermore, the prescribed-time convergence of the formation tracking error is analyzed using Lyapunov theories. Finally, the effectiveness of theoretical results is validated through a simulation example.

关键词： Protocols Upper bound automation Mathematical models Trajectory Topology Multi-agent systems

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Research on Improved Particle Swarm Optimized Fuzzy PID control for Quadrotor UAV

Research on Improved Particle Swarm Optimized Fuzzy PID Cont...

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Chinese automation Congress (CAC)

作者： Guohong Li Pengfei Wei Weiyue Yang Ran Gao Tianjin Key Laboratory of Control Theory and in Complicated System Tianjin University of Technology Tianjin China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665426480

Aiming at the problem of blindness in selecting the scale factor and quantization factor in the fuzzy PID control of quadrotor UA V based on empirical knowledge and simulation debugging, an improved particle swarm algorithm is proposed to optimize the parameter factors of the fuzzy controller, method. Using the adaptive inertia - weight method to optimize the particle swarm can avoid the dilemma of local optimality at the beginning. At the same time, the ITAE criterion is selected as the adaptability of the particle swarm algorithm to achieve better control effect. The adaptive particle swarm fuzzy PID is proved to be faster than fuzzy PID and traditional PID, with less overshoot and shorter stabilization time; the particle swarm fuzzy PID algorithm takes less time to recover the stabilization time when disturbing signals are encountered.

关键词： PI control Quantization (signal) automation Attitude control Optimal control Debugging Blindness

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Method of Electronic Component Location, Grasping and Inserting Based on Machine Vision 16

Method of Electronic Component Location, Grasping and Insert...

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16th IEEE International Wireless Communications and Mobile Computing Conference, IWCMC 2020

作者： Xue, Bin Sun, Chang Chu, Huihui Meng, Qingsen Jiao, Shuanben Engineering and Technology Rd Center of Mechanical and Electrical in Colleges of Shandong Qingdao Binhai University Shandong China Qingdao Zhongzhuang Vision Automation System Control Co. Ltd Shandong China

ISBN: (纸本)9781728131290

Aiming at the problems of low efficiency, high cost, missing or wrong insertion of labor in PCB production, a method of electronic component location, grabbing and inserting based on machine vision is proposed. By building the machine vision system, three industrial cameras cooperate with dome light sources to take images of the whole components, the pin features of components and the jack features of PCB board respectively. After image acquisition, image processing is carried out on VisionPro 9.0 software platform, which mainly completes feature extraction of component pins and PCB board jacks, and coordinates positioning. Then, coordinate transformation is carried out by nine-point calibration method to guide the manipulator to complete the work of location, grabbing and inserting. Through the running test, the system has a fast grabbing speed and inserting speed. The error inserting rate, missing inserting rate, bad product rate and inserting precision all reach the standard, and the working efficiency is three times that of the manual. © 2020 IEEE.

关键词： Feature extraction

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Simultaneously Calibration of Multi Hand-Eye Robot system Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Multi-level Coordinated Energy Management for Energy Hub in Hybrid Markets with Distributionally Robust Scheduling

arXiv

引用

arXiv 2022年

作者： Cao, Jiaxin Yang, Bo Zhu, Shanying Chung, Chi Yung Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China Department of Electrical and Computer Engineering University of Saskatchewan SaskatoonSKS7N 5A9 Canada

Maintaining energy balance and economical operation is significant for multi-energy systems such as the energy hub (EH). However, it is usually challenged by the frequently changing and unpredictable uncertain parameters at different timescales. Under this scope, this paper investigates the coordinated energy management problem for day-ahead and intra-day conditions considering uncertainties of source-load and market prices concurrently. Note that the precise knowledge of distributions about uncertainties may be unaccessible before the decision-making in day-ahead phase. A two-stage chance-constrained model based on distributionally robust approach with ambiguous moment information is proposed to immunize scheduling strategies against the worst-case probability distributions. The first stage is dedicated to obtaining more energy arbitrage and operation flexibility by optimizing bidding strategies in day-ahead power, natural gas and carbon trading markets. The second stage focuses on the optimization of the worst-case expected operation cost. It provides a robust energy equipment and load scheduling strategy for the reference of subsequent intra-day arrangements. With respect to different variations of electrical and thermal components, an intra-day two-timescale coordination is implemented step by step. The energy scheduling is re-dispatched circularly to minimize the operation and penalty costs. The possible energy imbalance is also compensated by this way. As the energy management program is nonlinear, chance-constrained and multi-stage, some linearization and dual transformation techniques are designed to enhance tractability of the program. Experimental results show that the developed multi-level framework results in a carbon emission decrease of 37%, and reduces energy cost averagely 3% compared with corresponding contrasting cases. The obtained strategy validates a good tradeoff between robustness and optimality. Copyright © 2022, The Authors. All rights reser

关键词： Power markets

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