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SSRN 2023年

作者： Gui, Zhiyong Chen, Zhiwei Wang, Mengjie Chen, Jianneng Wu, Chuanyu Dong, Chunwang Li, Yang Key Laboratory of Tea Quality and Safety Control Ministry of Agriculture and Rural Affairs Tea Research Institute Chinese Academy of Agricultural Sciences Hangzhou310018 China Faculty of Mechanical Engineering & Automation Zhejiang Sci-Tech University Hangzhou310018 China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou310018 China Tea Research Institute Shandong Academy of Agricultural Sciences Jinan250100 China

To achieve intelligent tea plucking, it is essential to let the machine know the location of tea bud picking. A Yolov7-TP (Yolov7-Tea-bud and plucking point) model is proposed herein for identifying tea buds and their plucking points. Here, images of tea buds in actual tea plantations were collected and labeled to establish a dataset. Thereafter, the Yolov7-TP was trained, tested, optimized, and improved according to the test results. The specific improvements were as follows: a localization loss function of tea-bud plucking points, AW tea plucking-point (AWTP) loss, is proposed to replace the original object key point similarity loss function, which significantly improved the positioning accuracy of plucking points. The shuffle attention mechanism was introduced into the model to advance the detection performance of the model. To evaluate the accuracy of the model to predict tea plucking points, this study proposes a means tea plucking point similarity (MTPS). A new indicator for tea plucking-point evaluation is proposed, the mean tea plucking-point similarity (MTPS), which better reflects the accuracy of the model. Here, the precision, recall, mean Average Precision (Intersection over Union=0.5) (MAP@0.5), and MTPS of the proposed model reached 0.975, 0.884, 0.946, and 0.9835, respectively. The proposed model was observed to be more stable and accurate in a complex environment. This study provides technical solutions and optimization methods for intelligent precision plucking, application values for the acquisition of tea-bud plucking points, and reference values for the identification of key points for other objects. © 2023, The Authors. All rights reserved.

关键词： Object detection

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Stability of partially unstable discrete-time switched positive nonlinear systems with delays

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Applied Mathematics and Computation 2025年 507卷

作者： Jinyuan Ni Yin Sheng Qiang Xiao Zhigang Zeng Tingwen Huang School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China

This paper addresses the stability issue of discrete-time switched positive nonlinear systems (SPNSs) characterized by partial unstable subsystems and constant delays. Firstly, we use a parameter to constrain the ratio of active durations of the stable and unstable modes, and derive the exponential stability conditions for SPNSs based on a key function. Then we analyze the relationship between convergence speed and the constant delay. Additionally, we obtain a stability criterion of SPNSs under a particular sequence of switching signals. Finally, we validate the results through a numerical example.

关键词： Exponential stability Switched positive nonlinear systems Time delay Unstable subsystems

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Finite-size scaling of geometric renormalization flows in complex networks

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Physical Review E 2021年第3期104卷 034304-034304页

作者： Dan Chen Housheng Su Xiaofan Wang Gui-Jun Pan Guanrong Chen School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China Department of Automation Shanghai University Shanghai 200072 China Faculty of Physics and Electronic Science Hubei University Wuhan 430062 China Department of Electronic Engineering City University of Hong Kong 999077 Hong Kong

Some characteristics of complex networks need to be derived from global knowledge of the network topologies, which challenges the practice for studying many large-scale real-world networks. Recently, the geometric renormalization technique has provided a good approximation framework to significantly reduce the size and complexity of a network while retaining its “slow” degrees of freedom. However, due to the finite-size effect of real networks, excessive renormalization iterations will eventually cause these important “slow” degrees of freedom to be filtered out. In this paper, we systematically investigate the finite-size scaling of structural and dynamical observables in geometric renormalization flows of both synthetic and real evolutionary networks. Our results show that these observables can be well characterized by a certain scaling function. Specifically, we show that the critical exponent implied by the scaling function is independent of these observables but depends only on the structural properties of the network. To a certain extent, the results of this paper are of great significance for predicting the observable quantities of large-scale real systems and further suggest that the potential scale invariance of many real-world networks is often masked by finite-size effects.

关键词： Network structure Scale free & inhomogeneous networks Small-world networks Critical exponents Renormalization Renormalization group Self-organized criticality Self-similarity

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Distributed formation control for manipulator end-effectors

arXiv

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu De Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain School of Automation Nanjing University of Science and Technology Nanjing210094 China

We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling parameters. We firstly present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end-effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where manipulator kinematic and system parameters are not exactly known. An extra integrator and an adaptive estimator are introduced for gravitational compensation and stabilization, respectively. Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Manipulators

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The System to Study Pulse Transit Time Measurement Error

The System to Study Pulse Transit Time Measurement Error

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Mediterranean Conference on Embedded Computing (MECO)

作者： Sergey G. Gurzhin Vladimir I. Zhulev Michail B. Kaplan Evgeniy M. Proshin Andrey V. Shulyakov Faculty of Automation and Information Technologies in Control Ryazan State Radio Engineering University RSREU Ryazan Russia

ISBN: (数字)9781728169491

ISBN: (纸本)9781728169507

The article considers software-hardware implementation of the system to study the errors in pulse transit time measurement methods. Flexible and powerful possibilities of software tools in the form of virtual instruments capable to set and reproduce forms and parameters of test signals as well as probabilistic characteristics of interferences are shown.

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Analysis of Metrological Test Method Accuracy

Analysis of Metrological Test Method Accuracy

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Mediterranean Conference on Embedded Computing (MECO)

作者： Aleksey M. Abramov Sergey G. Gurzhin Vladimir I. Zhulev Evgeniy M. Proshin Andrey V. Shulyakov Faculty of Automation and Information Technologies in Control Ryazan State Radio Engineering University RSREU Ryazan Russia

The article gives the analysis of errors in the method of “sliding histogram” taken place as a result of combined non-linearity of standard test signal together with non-linearity of its movement.

ISBN: (数字)9781728169491

ISBN: (纸本)9781728169507

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Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection

arXiv

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu de Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain The School of Automation Nanjing University of Science and Technology Nanjing210094 China

This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be non-vanishing and are superposition of finite number of sinusoidal and step signals. The formation control objective is achieved by assigning virtual springs between end-effectors, by adding damping terms at joints, and by incorporating internal model-based dynamic compensators to counteract the effect of the disturbances;all of which presents a clear physical interpretation of the proposed approach. Simulation results are presented to illustrate the effectiveness of the proposed approach. © 2021, CC BY.

关键词： End effectors

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Period Doubling Bifurcations and Its control in Induction Motor Drives

Period Doubling Bifurcations and Its Control in Induction Mo...

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Green Buildings (ATiGB), Applying New Technology in

作者： Mi Do Hoang Ngan Dung Le Tien Quang Nguyen Phung Faculty of Electrical and Electronic Engineering The University of Da Nang - University of Technology and Education Da Nang Viet Nam Faculty of Electrical Engineering The University of Da Nang - University of Science and Technology Da Nang Viet Nam Institute for Control Engineering and Automation Ha Noi University of Science and Technology Ha Noi Viet Nam

ISBN: (纸本)9781728186580;9781728186597

Chaos can lead to self-oscillation, which affect thequality of induction motor drive system?. This effect happens with nonlinear systems, which are sensitive to the initial conditions, but governed by deterministic laws unlike random. to The present study aims to investigate the chaos that occur in the nonlinear systems - three phase AC drives using induction motor by the rotor of flux oriented control. After analyzing the phenomena based on a mathematical model, simulation will prove chaotic behavior when parameters fall into period doubling bifurcation regions. It showed clearly the chaotic behaviors through time response, phase diagram, Fourier spectrum, Poincaré section, bifurcation diagrams, and Lyapunov exponents. Besides, the sensitivity of the initial condition of the system was also well presented. This is the typical characteristic of a chaotic system. In conclusion, this is a suitable algorithm - sliding mode control put forward to suppress the chaotic oscillations quickly and return the system to the normal working, therefore, could improve the quality of the system.

关键词： Chaos Induction motor drives Transient response Torque Sensitivity Bifurcation Temperature control

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A Survey of Robot Manipulation in Contact

arXiv

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arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

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Methods for digital signal processing and digital filter synthesis

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AIP Conference Proceedings 2022年第1期2656卷

作者： O. A. Jumaev D. S. Karpovic M. T. Ismoilov 1Navoi State Mining Institute Department of Automation and Control Automation Faculty Navoi Uzbekistan 2Belarusian State Technological University Department of Automation of Production Processes and Electrical Engineering Chemical Technology and Engineering Faculty Minsk Belarus

Methods of digital signal processing in control and monitoring systems are relevant today and largely replace the classic analog methods. This article discusses the main methods of digital signal processing and synthe...

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