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arXiv 2022年

作者： Jiang, Xia Zeng, Xianlin Xie, Lihua Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore The School of Electronic and Information Engineering Tongji University Shanghai200082 China

This paper proposes a distributed stochastic projection-free algorithm for large-scale constrained finite-sum optimization whose constraint set is complicated such that the projection onto the constraint set can be expensive. The global cost function is allocated to multiple agents, each of which computes its local stochastic gradients and communicates with its neighbors to solve the global problem. Stochastic gradient methods enable low computational cost, while they are hard and slow to converge due to the variance caused by random sampling. To construct a convergent distributed stochastic projection-free algorithm, this paper incorporates a variance reduction technique and gradient tracking technique in the Frank-Wolfe update. We develop a sampling rule for the variance reduction technique to reduce the variance introduced by stochastic gradients. Complete and rigorous proofs show that the proposed distributed projection-free algorithm converges with a sublinear convergence rate and enjoys superior complexity guarantees for both convex and non-convex objective functions. By comparative simulations, we demonstrate the convergence and computational efficiency of the proposed algorithm. © 2022, CC BY.

关键词： Stochastic systems

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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Chinese automation Congress (CAC)

作者： Bin Zhang Xiaowei Jiang Li Sun Xianhe Zhang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions.

关键词： Networked control systems Gaussian noise Bandwidth Numerical simulation Downlink Decoding Colored noise

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Fatigue Life Analysis of Piezoelectric Actuating Mechanism with Micro-displacement Amplifier

Fatigue Life Analysis of Piezoelectric Actuating Mechanism w...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xinyuan Zhang Shaoping Wang Xiao Wu Siyuan He Xingjian Wang Yu Niu Alex I. Gavrilov School of Automation Science and Electrical Engineering Beihang University Beijing China Tianmushan Laboratory Xixi Octagon City China Ningbo Institute of Technology Beihang University Ningbo China Research Institute of Aero-Engine Beihang University Beijing China Department of Automatic Control Systems Bauman Moscow State Technical University Moscow Russia

Since piezoelectric actuating mechanism generally operate in high frequency response state, fatigue life has become an important factor influencing the performance and reliability of the entire drive mechanism. In order to investigate whether the designed piezoelectric ceramic actuator meets the active control requirements of the aero-engine, the paper analyzes the fatigue characteristics and fatigue life of the piezoelectric ceramic materials and the micro displacement amplification mechanism with finite element analysis softwareˈ and the optimal spacing value is obtained by studying the effect of the flexible hinge spacing on the fatigue characteristics of the displacement amplifier. And then, the fatigue life of the displacement amplifier is analyzed based on the drive load spectrum of the aircraft during simulated flight, whose result is 340.93 hours. Finally, the fatigue life of the piezoelectric actuating mechanism is 32 minutes when loaded with full power, which meets the design target initially.

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A Swing-Up and Stable control Strategy for Pendubot Based on Nonlinear Model Predictive Method

A Swing-Up and Stable Control Strategy for Pendubot Based on...

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Chinese automation Congress (CAC)

作者： Lejun Wang Yiqin Liu Ruihuan Zhang Zixin Huang Zhen Cai School of Automation/School of Industrial Internet Chongqing University of Posts and Telecommunications Chongqing China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China School of Information Engineering Wuhan City Polytechnic Wuhan China

The control objective of Pendubot is to stabilise the system in a vertically upward position by swinging up from a vertically downward position. Facing various physical constraints in practical applications, this paper proposes a swing-up stabil-isation control strategy based on a nonlinear model prediction method to accomplish the above control objective. On the basis of the system dynamics model, the forward Euler method is used to construct a nonlinear prediction model of the system. According to the control objectives and physical constraints of the system, the performance index function is designed, and then the control inputs of each sampling cycle are obtained through rolling optimisation and feedback correction, so that the system state gradually converges to the target trajectory, thus achieving the motion control objective. Based on the simulation results, it can be seen that the strategy proposed in this paper is efficient and robust under external disturbances.

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Electromagnetic Performance and Vibration Analysis of a Special-shaped External-rotor Machine

Electromagnetic Performance and Vibration Analysis of a Spec...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Ziwei Dong Liang Yan Zhang Lu School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Tianmushan Laboratory Hangzhou China Ningbo Institute of Technology Beihang University Ningbo China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China

Permanent magnet synchronous machines have advantages such as small size, light weight, high efficiency, etc. It is more and more widely used in robots, electromagnetic propulsion, electric vehicles and so on. High power density and high torque density are urgent need for those applications. The electromagnetic design of machines mostly adopt multi-pole magnet patterns to reduce the stator yoke size. It helps to decrease the mass of the machine with the same power and improve the torque density. As the number of poles grows larger, the frequency and the core loss of per unit volume will also increase with the same speed, which can aggravate the heat problem of the machine. It is easy to generate the low-order vibration with high flux density. Therefore, the performance of a special-shaped external-rotor machine and comparisons with the traditional machine are analyzed in this paper. Numerical simulation is conduced to validated that the special-shaped magnet pattern can reduce the torque ripple, improve the torque output and power density. From the two-dimensional Fourier analysis of the radial electromagnetic force, it is found that the low-order amplitude of the special-shaped machine is greatly reduced, so the vibration can be avoided. Subsequently, the vibration simulation is carried out to indicate that the magnet pattern can satisfy low level in vibration and noise of the machine.

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Torque Analysis of Interior Permanent-Magnet Synchronous Motor with Different Rotor Structure Under Overload Condition

Torque Analysis of Interior Permanent-Magnet Synchronous Mot...

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International Conference on electrical Machines and systems (ICEMS)

作者： Chuliang Zheng Hao Qian Yaoxing Shang Zhiyong Wu Hong Guo School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Institute of Unmanned Systems Beihang University Beijing China Ningbo Institute of Techonlogy Ningbo China

ISBN: (数字)9781665493024

ISBN: (纸本)9781665493031

The torque overload capability of permanent magnet synchronous motor(PMSM) is very important in transportation applications, which means instantaneous acceleration ability. In the interior PMSMs, the reluctance torque is generated due to the asymmetry of the magnetic circuit, which contributes to the torque overload capacity. In this paper, finite element models(FEMs) of PMSMs with different rotor structures are established to study the torque overload capability. Frozen permeability method is used to analyze the distribution change of rotor permeability under different operating conditions. The torque overload capabilities of different rotor structure are compared. The interior rotor type suitable for overload condition is obtained.

关键词： Resistance Torque Rotors Transportation Synchronous motors Permanent magnets Permeability

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Data-Based Online Optimal control for Multi-player Nonlinear Non-zero-Sum Games Using Recursive Least Squares

Data-Based Online Optimal Control for Multi-player Nonlinear...

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Chinese automation Congress (CAC)

作者： Gaofu Yang Ruizhuo Song Qinglai Wei School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426480

In this paper, optimal control of nonlinear systems for non-zero-sum games is solved with a data-based and recursive least square. The new adjustment law is similar to experience replay algorithm which refer history data and the covariance matrix is introduced for storing historical data, which can avoid the waste of space and time caused by storing a large amount of historical data and collecting data. In tuning process, we use a discount factor which shows how trust to the collected data to guide adjustment law to update the weight. Meanwhile, discount factor can avoid the covariance matrix tending to zero due to accumulation of data. After that, the convergence of the weight is analyzed. Finally, using a simulation to verify the effectiveness of the tuning law.

关键词： automation Optimal control Games Reinforcement learning History Nonlinear systems Covariance matrices

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Distributed Containment control of Markov Jump Multi-agent systems under Asynchronous Communications

Distributed Containment Control of Markov Jump Multi-agent S...

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第40届中国控制会议

作者： Chao Ma Yidao Ji Hang Fu Wei Wu School of Mechanical Engineering University of Science and Technology Beijing School of Automation and Electrical Engineering University of Science and Technology Beijing State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper studies the distributed containment control issue for general Markov jump multi-agent systems. More specifically, a novel asynchronous mode-dependent communication scheme is proposed, which is based on observed communication mode information. By means of mode-dependent Lyapunov method, sufficient containment conditions are derived and communication protocol gains are further designed by convex optimization. A simulation example is finally presented to validate the correctness of our developed control scheme.

关键词： Distributed containment Markov jump multi-agent systems asynchronous communications

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Live Demo: E2P–Events to Polarization Reconstruction from PDAVIS Events

Live Demo: E2P–Events to Polarization Reconstruction from P...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Tobi Delbruck Zuowen Wang Haiyang Mei Germain Haessig Damien Joubert Justin Haque Yingkai Chen Moritz B. Milde Viktor Gruev Sensors Group Institute of Neuroinformatics Univ. of Zurich and ETH Zurich Switzerland AIT Austrian Institute of Technology Center for Vision Automation & Control High-Performance Vision Systems Vienna Austria Intl. Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Dept. of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA

This demonstration shows live operation of of PDAVIS polarization event camera reconstruction by the E2P DNN reported in the main CVPR conference paper Deep Polarization Reconstruction with PDAVIS Events (paper 9149 [...

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Automated Droplet Manipulation Enabled by a Machine-Vision-Assisted Acoustic Tweezer

SSRN

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SSRN 2024年

作者： Huan, Zhijie Zhou, Jie Xie, Yu Xu, Jinbin Wang, Haozheng Ma, Weicheng Li, Xiaowei Zhou, Wei Luo, Tao School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China Pen-Tung Sah Institute of Micro-Nano Science and Technology Xiamen University Xiamen361102 China Micro-/Nano-technology Research Center State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University Xi’an710049 China Qingdao266580 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen361024 China

Automated droplet manipulation holds great significance for various biochemical applications, including but limited to heavy metal ions detection. Despite notable progress, contactless-acoustic-tweezer-based automated droplet manipulation on superhydrophobic surfaces is rarely reported. In this work, we introduce a machine-vision-assisted acoustic tweezer (MVAAT) for automated and contactless manipulation of droplets on a superhydrophobic surface. The MVAAT generates ultrasound standing waves between an ultrasonic transducer (UST) and a superhydrophobic surface, inducing acoustic radiation force to facilitate contactless droplet manipulation on the superhydrophobic surface. An industrial-camera-based machine vision system is employed for real-time detection and tracking of droplets, providing precise droplet positions for automated droplet transportation and merging via a UST equipped on a Cartesian robot. Experimental results demonstrate that the proposed MVAAT can transport droplets of various volumes on a superhydrophobic surface along planned paths at considerably high velocities exceeding one centimeter per second. Moreover, automated merging and patterning of multiple droplets are achieved, showcasing the versatility of the MVAAT. Last, the MVAAT is applied for fluorescence-based Cu2+ detection to showcase its potential for practical biochemical analyses. The proposed MVAAT significantly expands the capability of ultrasound for droplet manipulation on superhydrophobic surfaces, promising numerous practical applications in biology and chemistry. © 2024, The Authors. All rights reserved.

关键词： Drops

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