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International Symposium on Autonomous Systems (ISAS)

作者： Jishen Peng Chang Wang Yang Li Hongtian Chen Faculty of Electrical and Control Engineering Liaoning Technical University Huludao China School of Mechatronic Engineering and Automation Shanghai University Shanghai China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China

In substations, violations such as smoking may lead to equipment damage and even threaten the safety of personnel. In this paper, a GhostNetV2-YOLOv5 based algorithm for detecting smoking by substation personnel is proposed. The algorithm uses GhostNetV2 as the backbone network to improve the accuracy of the model while achieving real-time detection of smoking behavior. The experimental results show that the method can improve the detection speed of the model without reducing the detection accuracy, and compared with the original YOLOv5 algorithm, the total mAP is improved by 2.58% and the prediction speed is improved by 1.61 times, which is superior to other smoking detection networks and has practical application value.

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Simple Tuning of Arbitrary controllers using Governors

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IFAC-PapersOnLine 2023年第2期56卷 8439-8444页

作者： Miroslav Fikar Karol Kiš Martin Klaučo Martin Mönnigmann Institute of Information Engineering Automation and Mathematics Faculty of Chemical and Food Technology Slovak University of Technology in Bratislava Radlinskeho 9 SK-812 37 Bratislava Automatic Control and Systems Theory Ruhr-Universität Bochum Germany

The paper proposes a preliminary idea to an intuitive and straightforward mechanism for tuning arbitrary controllers and changing the closed-loop performance. While the structure and parameters of the original controller are kept unchanged, the inputs to the nominal controller are modified such that the closed-loop response becomes slower or faster. Such a governor setup implementation is advantageous, especially when re-tuning the original controller is impractical or impossible. The practicability and versatility of this approach is presented using several examples spanning from simple loops with PID controllers to complex nonlinear closed-loop systems with optimal and approximated explicit MPC.

关键词： Tuning constrained control predictive control controller structure governor

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Molecular Imprinted Polymer on Optical Fiber Sensor for Ethanol Vapor Biomarker Detection

Molecular Imprinted Polymer on Optical Fiber Sensor for Etha...

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IEEE SENSORS

作者： Pannathorn Jitpratak Akhilesh Kumar Pathak Kankan Swargiary Charusluk Viphavakit Department of Biomedical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Mechanical Engineering Center for Smart Structures and Materials Northwestern University Evanston IL USA Faculty of Engineering International School of Engineering (ISE) Intelligent Control Automation of Process Systems Research Unit Chulalongkorn University Bangkok Thailand

An optical fiber sensor with a single mode-multimode-single mode (SMS) structure is proposed to detect ethanol vapor ranging between 100–500 ppm via the evanescent field interaction at the interface between the optical fiber and ethanol vapor. The proposed optical fiber sensor offers real-time and non-invasive monitoring of ethanol vapor, which is one of the biomarkers of diabetes. Molecular imprinted polymer (MIP) is coated at a multimode fiber region, which is considered to be a sensing area, to improve the selectivity of the ethanol biomarker. The sensor works based on wavelength interrogation by detecting the change in wavelength due to the change in vapor concentration. The fabricated sensor has a sensitivity of 0.0013 nm/ppm, which suggests the potential to be used as a monitoring device for breath analysis.

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Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases

Step and Timing Adaptation during Online DCM Trajectory Gene...

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IEEE-RAS International Conference on Humanoid Robots

作者： Tobias Egle Johannes Englsberger Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute TU Wien Vienna Austria Institute of Robotics and Mecha-tronics German Aerospace Center (DLR) Wessling Germany

In this paper, we present a robust DCM-based online trajectory generator with step timing adaptation using MPC in addition to manipulating the ground reaction forces by the DCM tracking controller. The proposed control framework utilizes three strategies to react to disturbances: timing adaptation, footstep position adjustment, and CoP modulation. Most state-of-the-art walking controllers only address some of these aspects, and especially the timing adaptation is often neglected in the presence of double support phases as the resulting optimization problem generally becomes nonlinear. We show that we can keep the fast disturbance rejection from the DCM tracking controller while adjusting the timing and location of the footsteps via MPC if the CoP-based ankle strategy is insufficient to maintain balance. This framework is particularly relevant for robots with active control of the CoP inside the support polygon by utilizing a combination of ankle and step strategy to take full advantage of the robot's capabilities in response to external disturbances. The method is validated in simulation on the robot kangaroo. It has lightweight, fully actuated legs and a sufficiently large contact area, making it highly suitable for a combined step time adaptation and contact force modulation approach.

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The Effect of Binary Fluid on the Heat Transfer Performance of Flat Plate Micro Heat Pipe

SSRN

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SSRN 2023年

作者： Zhao, Zhengang Feng, Yingjun Luo, Chuan Cai, Shuiyan Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan Key Laboratory of Green Energy Electric Power Measurement Digitalization Control and Protection Kunming650500 China

The flat plate micro heat pipe (FMHP) is a passive thermal management device that is widely used in chip heat dissipation. In this paper, by analyzing the heat transfer principle of FMHP, we found that the heat transfer limit of FMHP is positively related to the latent heat of evaporation of the work medium, and the methanol binary fluid containing deionized water can increase the latent heat of the working medium. Therefore, four heat pipes with different concentrations of binary fluids of methanol and deionized water as the FMHP work medium and pure methanol as the working medium were fabricated, and a platform was built to test the five heat pipes. The results show that the BF80-FMHP has the maximum thermal power and exhibits better heat transfer characteristics than the MF100-FMHP, with a 12.04% increase in maximum thermal power and a 15.87% increase in start-up time. The BF60-FMHP has the fastest average start-up time, 27.5% higher than the MF100-FMHP, but the maximum thermal power is 10.39 W lower than that of the MF100-FMHP. The proper concentration of binary fluid can effectively increase the maximum thermal power of FMHP, increase the working range, improve the heat transfer capability of FMHP at high temperatures, and enhance the start-up time at high power. © 2023, The Authors. All rights reserved.

关键词： Heat pipes

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Adaptive Sensitivity Amplification control with Q-Learning for Cable-Driven Lower-Limb Exoskeletons

Adaptive Sensitivity Amplification Control with Q-Learning f...

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Chinese control Conference (CCC)

作者： Linzhen Zhong Xiaodong Wang Guanbin Gao Yashan Xing Faxiang Zhang Faculty of Information Engineering & Automation Kunming University of Science and Technology Kunming China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming China Faculty of Mechanical & Electrical Engineering Kunming University of Science & Technology Kunming China

This paper proposes a sensitivity amplification control (SAC) based on Q-learning for the cable-driven lower-limb exoskeleton (CDLEX) to guarantee the tracking performance and achieve comfortable human-robot interaction (HRI). There is no requirement for direct measurement of HRI in the SAC scheme, hence the force/torque sensors are avoided. For the purpose of accommodating the uncertainties of the interaction environment, such as the individual gaits and suddenly changing walking trajectories, the Q-learning algorithm is utilized to realize online parameter tuning of SAC. Finally, comparative numerical simulations are included to verify the effectiveness of the control scheme.

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A Heterogeneous Multi-RISCV Architecture for Image Processing and Computer Vision Applications

A Heterogeneous Multi-RISCV Architecture for Image Processin...

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IEEE ANDESCON

作者： Arthur M. Lima Douglas L. Silva Hércules I. A. Santos Janier Arias-Garcia Gilmar S. Beserra Jones Yudi Automation and Control Group University of Brasília Brasília Brazil Department of Electronic Engineering Federal University of Minas Gerais Belo Horizonte Brazil Faculty of Gama University of Brasília Brasília Brazil

ISBN: (数字)9798350355284

ISBN: (纸本)9798350355291

In the advanced field of Image Processing and Computer Vision (IP/CV), there is a trend toward utilising parallel processing in computer architectures for enhanced efficiency, striking a balance between general-purpose capabilities and hardware-specific processes. The RISC-V standard, now backed by a wide array of compilers, frameworks, and operating systems, is paving the way for innovative cores. Our introduction of a Multi-Processor Systems on Chip (MPSoC), MPRISC-V, is a testament to this evolution. This system incorporates a Network on Chip (No $C$ ) for robust intra-chip communication. The Processing System (PS) seamlessly integrates and manages it through a user-friendly API crafted to simplify the development cycle. To ascertain its effectiveness, we tested it on a Zynq Ultrascale+ MPSoC device, deploying a Sobel-based application benchmark. By evaluating its efficiency in terms of cycles/pixels, our findings underscore its potential and spotlight areas ripe for further enhancement.

关键词： Computer vision Image processing Operating systems Prototypes Computer architecture Parallel processing Hardware System-on-chip Proposals Standards

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Prescribed-Time Mitigation of False Data Attacks in Microgrid Load Frequency control

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IEEE Transactions on Smart Grid 2025年

作者： Abouzeid, Said I. Chen, Y. Zaery, Mohamed Amrr, Syed Muhammad Abdelhameed, Esam H. Engineering Technology Research Center for Electric Vehicle Driving System and Safety School of Automation Engineering University of Electronic Science and Technology of China and Sichuan Province Sichuan Chengdu611731 China Aswan University Faculty of Energy Engineering Electrical Engineering Department Aswan Egypt K.A.CARE Energy Research and Innovation Center Saudi Arabia KFUPM Control and Instrumentation Engineering Department Saudi Arabia Saudi Arabia

Microgrid load frequency control (LFC) operation relies extensively on cyber networks which significantly increases their susceptibility to false data injection attacks (FDIAs) that can undermine microgrid’s stability. This paper proposes a multi-layer control framework that efficiently detects and mitigates false data injected in the actuator and measurements of the LFC. Firstly, an FDIAs detection layer based on an unknown input observer (UIO) utilizing an adaptive threshold has been proposed. An adaptive threshold aims to enhance detection sensitivity and reduce false alarms by distinguishing between actual attacks and temporal discrepancies in observer error caused by internal disturbances. Secondly, to ensure timely and accurate mitigation of FDIAs, an estimation layer utilizing a prescribed-time unknown input observer (PTUIO) has been designed. PTUIO is designed to be robust against unknown inputs and parameter uncertainty. The PTUIO employs periodic time-delayed output to estimate system states and FDIAs within a predefined time. Afterward, a two-layer robust and resilient LFC system was developed. The first layer ensures the rejection of unknown inputs, including load/generation disturbances and FDIAs based on PTUIO estimations. The second layer incorporates robust state feedback control, which stabilizes the microgrid and accurately tracks the frequency reference. The effectiveness of the proposed control system is confirmed through multiple scenarios by simulations and Hardware-in-the-loop (HIL), demonstrating its robustness and reliability in addressing challenges associated with internal disturbances, and FDIAs within the microgrid. © 2010-2012 IEEE.

关键词： Hardware-in-the-loop simulation

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Energy flow characteristics of friction-induced nonlinear vibrations in a water-lubricated bearing-shaft coupled system

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Acta Mechanica Sinica 2021年第4期37卷 679-704,I0003页

作者： Li Qin Hongling Qin Jing Tang Xing Key Laboratory of Metallurgical Equipment and Control Technology School of Machinery&AutomationWuhan University of Science and TechnologyWuhan 430081China Hubei Key Laboratory of Hydroelectric Machinery Design&Maintenance Three Gorges UniversityYichang 443002China Maritime Engineering Group CMEESchool of EngineeringFaculty of Engineering&Physical SciencesUniversity of SouthamptonSouthampton SO 171BJUK

Based on the energy flow theory of nonlinear dynamical system,the stabilities,bifurcations,possible periodical/chaotic motions of nonlinear water-lubricated bearing-shaft coupled systems are investigated in this *** is revealed that the energy flow characteristics around the equlibrium point of system behaving in the three types with different friction-para-mters.(a)Energy flow matrix has two negative and one positive energy flow factors,constructing an attractive local zero-energy flow surface,in which free vibrations by initial disturbances show damped modulated oscillations with the system tending its equlibrium state,while forced vibrations by external forces show stable oscillations,(b)Energy flow matrix has one negative and two positive energy flow factors,spaning a divergence local zero-energy flow surface,so that the both free and forced vibrations are divergence oscillations with the system being unstable,(c)Energy flow matrix has a zero-energy flow factor and two opposite factors,which constructes a local zero-energy flow surface dividing the local phase space into stable,unstable and central subspace,and the simulation shows friction self-induced unstable vibrations for both free and forced *** a set of friction parameters,the system behaves a periodical oscillation,where the bearing motion tends zero and the shaft motion reaches a stable limit circle in phase space with the instant energy flow tending a constant and the time averaged one tending *** simulations have not found any possible chaotic motions of the *** is discovered that the damping matrices of cases(a),(b)and(c)respectively have positive,negative and zero diagonal elements,resulting in the different dynamic behavour of system,which gives a giderline to design the water-lubricated bearing unit with expected performance by adjusting the friction parameters for applications.

关键词： Nonlinear friction-induced vibrations Nonlinear energy flows Nonlinear water-lubricated bearing-shaft systems Bifucation friction parameters Energy flow matrices Periodical oscilation

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Detection and Description of Local Features of a Thermal Image

Detection and Description of Local Features of a Thermal Ima...

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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： I. I. Naumov R. R. Ibadov A. G. Gazaryan Faculty of Automation Mechatronics and Control Don State Technical University Rostov-on-Don Russia Department of Electrical Engineering and Electronics Don State Technical University Rostov-on-Don Russia Institute of Advanced Mechanical Engineering “Rostselmash” Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

Thermal images present challenges for traditional computer vision methods due to the lack of clear textures and low contrast. In this paper, we present a hybrid architecture based on a Siamese triplet network and transformers, which provides an accuracy improvement of 42 % over classical methods SIFT, SURF and 28% over state-of-the-art CNN approaches SuperPoint, D2-Net. Key innovations include a thermal-adaptive descriptor, dynamic triplet loss, and a fusion module that integrates spatial and thermal features. Evaluations on industry-standard KAIST, FLIR, Thermal Urban datasets demonstrate excellent performance, with the method detecting 91 % of keypoints in daytime scenes and remaining robust in adverse conditions such as fog, rain, and low visibility. Moreover, the algorithm runs at 45 fps on embedded systems, making it suitable for real-time applications. The algorithm has potential applications in autonomous driving, surveillance, and medical diagnostics.

关键词： Technological innovation Accuracy Heuristic algorithms Surveillance Thermal engineering Computer architecture Transformers Feature extraction Convolutional neural networks Thermal stability

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