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International Conference on control, automation, Robotics and Vision (ICARCV)

作者： Zheng Tan Yang Lyu Hanchen Lu Quan Pan Faculty of Automation Northwestern Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781665476881

We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstacle-free path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.

关键词： Solid modeling Three-dimensional displays Navigation Dynamics Organizations Kinematics Autonomous aerial vehicles

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GPU-Accelerated Policy Optimization via Batch Automatic Differentiation of Gaussian Processes for Real-World control

arXiv

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arXiv 2022年

作者： Taheri, Abdolreza Pajarinen, Joni Ghabcheloo, Reza Faculty of Engineering and Natural Sciences Tampere University Finland Department of Electrical Engineering and Automation Aalto University Finland Intelligent Autonomous Systems TU Darmstadt Germany Control Systems R&D HIAB Sweden

The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robotics research. However, the computational complexity of GPs has made policy search a highly time and memory consuming process that has not been able to scale to larger problems. In this work, we develop a policy optimization method by leveraging fast predictive sampling methods to process batches of trajectories in every forward pass, and compute gradient updates over policy parameters by automatic differentiation of Monte Carlo evaluations, all on GPU. We demonstrate the effectiveness of our approach in training policies on a set of reference-tracking control experiments with a heavy-duty machine. Benchmark results show a significant speedup over exact methods and showcase the scalability of our method to larger policy networks, longer horizons, and up to thousands of trajectories with a sublinear drop in speed. © 2022, CC BY-NC-ND.

关键词： Gaussian distribution

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Application of Rna Genetic Algorithm Based on Gradient Descent in Function Optimization and engineering Optimization

SSRN

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SSRN 2023年

作者： Wu, Qiuxuan Chen, Mingming Zhao, Zikai Chi, Xiaoni Luo, Yanbin Zeng, Pingliang Zhang, Botao Wang, Jian Zhilenkov, Anton A. Chepinski, Sergey A. Institute of Electrical Engineering School of Automation Hangzhou Dianzi University Hangzhou China HDU-ITMO Joint Institute Hangzhou Dianzi University Hangzhou China Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University Saint Petersburg Russia Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

In engineering optimization problems, most are function optimization problems. RNA genetic algorithmhas apparent advantages in function optimization but has low accuracy and is easy to fall into local *** paper proposes an RNA genetic algorithm based on gradient descent. Gradient descent is used as amutation operator to improve the local development ability of the algorithm. Inspired by the inner-loopstructure of RNA molecules, we designed an inner-loop crossover operator and an inner-loop mutationoperator to improve the global exploration ability of the algorithm in the early stage of evolution and theability to jump out of the local extremum. The algorithm uses an RNA genetic algorithm to find individualsnear the optimal region in the pre-evolutionary stage and performs gradient descent variation on theseindividuals in the post-evolutionary stage to improve the quality of the solution. In addition, this algorithmuses the adaptive gradient descent method to alleviate the oscillation in the gradient descent process anduses the niche punishment method to deal with complex constraints. The algorithm is tested on 17benchmark functions and compared with other optimization algorithms, indicating that the algorithm hasbetter performance. Finally, Adam RNA-GA is used to solve four engineering design problems, and theresults obtained show that the algorithm has high solution accuracy. © 2023, The Authors. All rights reserved.

关键词： Genetic algorithms

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Automatic-Scheduling-Integrated Computerized Maintenance Management System for Small and Medium Manufacturing Plant

Automatic-Scheduling-Integrated Computerized Maintenance Man...

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International Conference on Green Technology and Sustainable Development (GTSD)

作者： Ngoc-Huy Tran Xuan-Thuyen Le Department of Control & Automation Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Innovation F abLab Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam

ISBN: (数字)9798350386073

ISBN: (纸本)9798350386080

Since the onset of the Fourth Industrial Revolution, modern industrial plants have become increasingly complex, leading to a growing demand for specialized information systems to manage their operations. Computerized Maintenance Management System (CMMS) is a popular tool which can be used to manage physical assets maintenance in a factory. While the current implementations of CMMS in small and medium specialized manufacturing plants improves many aspects of maintenance operations such as increased productivity, better planning, there are many enhancements that could be made in term of efficiency, extensibility, … This paper proposes a CMMS solution that, in addition to typical CMMS main features, focus on creating an open interface following ISA-95 for easy integration into other manufacturing management systems and enterprise level software, as well as improving user productivity through the use of automatic scheduling based on Tabu Search algorithm. The results from a plastic manufacturing plant indicate that the proposed solution can significantly reduce scheduling efforts while maintaining scheduling constraints and quality.

关键词： Productivity Job shop scheduling Processor scheduling Software algorithms Software Maintenance Sustainable development

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A Novel Remaining Useful Life Prediction Model Based on Adaptive Feature Fusion and its Application to Rolling Bearings

SSRN

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SSRN 2024年

作者： Guo, Kai Ma, Jun Wu, Jiande Xiong, Xin Faculty of Information Engineering & Automation Kunming University of Science and Technology Kunming650500 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming University of Science and Technology Kunming650500 China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming650500 China

As a key component in the transmission system of high-speed trains, once a failure occurs, it will directly affect the safety of train operation. Therefore, it is of great significance to construct a degradation index that can comprehensively characterize the running state of bearings and establish a reliable remaining useful life model to ensure the safety of train operation. Aiming at the problems that the redundant features in the existing multi-feature fusion process affect the diagnosis performance and the spurious fluctuations phenomenon of the fusion features causes the inaccurate determination of the start fault time and leads to the low prediction accuracy of remaining useful life (RUL), A method based on adaptive feature fusion and autoregressive integrated moving average model is proposed for rolling bearings prediction. The research in this study demonstrates that by comparing and verifying with two sets of public data, the proposed method is effective in accurately identifying the features that are most sensitive to degradation trends, accurately determine the initial fault moment of bearings, achieve effective prediction of the RUL of bearings, and the related research results can provide reference basis for predictive maintenance of train bearings. © 2024, The Authors. All rights reserved.

关键词： Forecasting

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Mixed Fault-Tolerant Sampled-Data Fuzzy control for Nonlinear Parabolic PDE Systems Under Deception Attacks

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International Journal of Fuzzy Systems 2022年第8期24卷 3513-3531页

作者： Li, Qian-Qian Wang, Zi-Peng Wu, Huai-Ning Li, Yueyang Li, Han-Xiong School of Electrical Engineering University of Jinan Jinan China Faculty of Information Technology Beijing University of Technology Beijing China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Systems Engineering and Engineering Management City University of Hong Kong Kowloon Tong Hong Kong

This paper addresses mixed $$H_2/H_\infty$$ fault-tolerant sampled-data (SD) fuzzy control for nonlinear space-varying parabolic partial differential equation (PDE) system under deception attacks. Firstly, a T–S fuzzy PDE model is given to exactly describe the nonlinear space-varying parabolic PDE system. Secondly, a fault-tolerant SD fuzzy controller via the spatial linear matrix inequalities (SLMIs) is developed based on a Lyapunov functional which is continuous at sampling times but not necessary to be positive definite in sampling intervals such that the closed-loop PDE system is exponentially stable with a mixed $$H_2/H_\infty$$ performance. Then, to solve the SLMIs, the fault-tolerant SD fuzzy control problem for space-varying parabolic PDE system is formulated as linear matrix inequality feasibility problem. Furthermore, the design condition of the suboptimal mixed $$H_2/H_\infty$$ fault-tolerant SD controller subject to deception attacks can be derived by considering the property of membership functions. Lastly, two examples are given to illustrate the design method.

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Research on Collaborative Object Detection and Recognition of Autonomous Underwater Vehicle Based on YOLO Algorithm

Research on Collaborative Object Detection and Recognition o...

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第33届中国控制与决策会议

作者： TANG Leisheng XU Hongli WU Han TAN Dongxu Gao Lei Shengyang Institute of Automation Chinese Academy of Science SHENYANG JIANZHU UNIVERSITY Information & Control Engineering Faculty Northeastern University Shenyang Ligong University School of Automation and Electrical Engineering

Autonomous underwater vehicle(AUV) is an important tool for human to explore and research marine *** to the influence of underwater environment,it is impossible to realize the rapid detection and recognition of AUV and the recognition of cooperative *** solve this problem,underwater light vision and underwater image enhancement technology are proposed to realize the rapid detection and recognition of underwater vehicles,so as to realize the recognition of cooperative *** this paper,YOLO algorithm which has a good effect on target detection precision and the recognition speed is used to recognize the underwater vehicle on the Yolo *** the original data set,histogram equalization and CLAHE algorithm are used to enhance the *** are respectively loaded into the same training model and trained on the yolov2 and yolov3 *** analysis of the experimental results shows that the underwater image enhancement technology based on the YOLOv3 network and the CLAHE algorithm can meet the requirements of rapid recognition for underwater vehicle detection and recognition.

关键词： Underwater Vehicle YOLO Neural Network Real-time Detection Target Recognition

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Raman microscopic measurement of materials used on banknotes

Raman microscopic measurement of materials used on banknotes

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Circuits, Systems, Communications and Computers (CSCC), International Conference on

作者： Hana Tomášková Vladimír Vašek Department of electronic and measurements Faculty of Applied informatics Tomas Bata University in Zlin Zlín Czech Republic Department of automation and control engineering Faculty of Applied informatics Tomas Bata University in Zlin Zlín Czech Republic

ISBN: (纸本)9781665481878

The successful verification of the authenticity of banknotes, or the detection of counterfeits, is based on the combination of an effective measuring system and computer technology. In this paper, a modern diagnostic method Raman microscopy together with an exploratory tool for processing and interpreting multi-dimensional datasets, and cluster analysis, are used to study structural differences between paper and orange ink used on genuine banknotes. Six currencies of European countries were selected for this study: Croatian kuna, Czech crown, euro, Great British Pound, Polish zloty, and Swiss franc. Raman microscopy offers non-destructive, rapid analysis without any sample preparation and pre-processing, with the potential to recognize structural modification of substances, together with the advantages of optical microscopy. Cotton fibres, $\text{TiO}_{2}$ in two different modifications, and other additives are successfully identified within the spectra. The patterns found in mathematically processed Raman data, especially between the paper, indicate both, the similarities and differences across the various banknotes, even of the same currency. The results serve as a base of the spectral database for authenticity control of banknotes and classification of the materials used.

关键词： Optical fibers Optical microscopy Databases Statistical analysis Microscopy Process control Ink

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Data-Driven control and Behavior-Based control Applied to a SISO Mobile Robot

Data-Driven Control and Behavior-Based Control Applied to a ...

引用

IEEE Latin American Robotics Symposium, LARS

作者： M. A. Pastrana Karine R. Santos Alceu B. C. de Farias Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil Faculty of Gama Biomedical Engineering Graduate Program University of Brasilia Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

With the advancement of technology, systems in many different areas of application have become more complex, and obtaining reliable mathematical models is a task that is increasingly becoming more difficult as well. To overcome these issues, new methodologies have emerged, such as the one known as Data-Driven-control (DDC), which uses the input and output data of the system to design a controller, and Behavior-Based-control (BBC), which provides the controller based on the desired behavior of a system. In this work, these two methodologies were applied to obtain the transfer function of a Single-Input Single-Output mobile robotic platform that moves parallel to a wall. A Proportional Integral Derivative controller was used to control the left wheel, while the right wheel was set to a constant speed, allowing the mobile robot to maintain a constant distance from the wall. The controller was tuned utilizing root locus methodology with an overshot of 16.7%, settling time of 6.45 seconds, and a static error of 2.1%. Additionally, disturbances were added to test the robustness of the mobile robot model and the PID controller.

关键词： Analytical models Biological system modeling Wheels Transfer functions Robot sensing systems control systems Mathematical models

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China China University of Mining and Technology School of Electrical Engineering Xuzhou221116 China Xinjiang Institute of Engineering Ürümqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Mining Production University of Mining and Geology "St. Ivan Rilski " Department of Automation Sofia1700 Bulgaria The University of Nottingham Power Electronics Machines and Control Group NottinghamNG7 2RD United Kingdom Electric Drives Department Moscow111250 Russia Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Faculty of Control Systems and Robotics Engineer Saint Petersburg197101 Russia Peter the Great St. Petersburg Polytechnic University Institute of Energy Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively use the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (dc) and high-frequency ac inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this article using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency ac drive characteristics, as well as their advantages in terms of efficiency, output capacity, and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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