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Chinese automation Congress (CAC)

作者： De Tang Ziying Zhang Xin Chen Zhe Xiao Mengxi Qin School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration School of Arts and Communication China University of Geosciences Wuhan China

ISBN: (纸本)9781665426480

It is important for the dulcimer robot to obtain the spatial coordinates of the dulcimer phonemes. However, the traditional manual positioning method is both inefficient and does not meet the intelligence requirements of modern robot. A visual positioning method based on improved Roberts operator is proposed in this paper on account of solving these problems, which can obtain the 3D coordinates of the dulcimer keys in a short time. First, an improved Roberts edge detection operator is designed, which fully detects the edge information of the target by transforming the scale. Further, this paper proposes a dulcimer keys positioning method by fusing RGB and depth image information. This method has a better positioning effect for dulcimer keys with complex background and small size. The experimental results show that the visual positioning method proposed in this paper can effectively identify and locate the dulcimer keys, and it has better robustness to the lighting environment.

关键词： Visualization Three-dimensional displays Robot kinematics Image edge detection Measurement uncertainty Lighting Manuals

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An Improved YOLOv5 Detection Algorithm with Pruning and OpenVINO Quantization

An Improved YOLOv5 Detection Algorithm with Pruning and Open...

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Chinese automation Congress (CAC)

作者： Cheng Chen Yahui Gan Zao Han Huan Gao Ang Li Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China

In order to address the problem of current object detection models being too large to be deployed on robot controllers, this paper proposes improvements to YOLOv5 for real-time detection. The YOLOv5s model is pruned at the Batch Normalization (BN) layer, and further optimized using the OpenVINO tool for quantization. The results demonstrate that our improvements effectively improve the model's inference speed while maintaining its accuracy. Compared to the original YOLOv5 model, the pruned model achieves the same accuracy without degradation, with a 36.6% reduction in parameter count and a 35% reduction in weight storage file size. Furthermore, after optimization with OpenVINO, the final model achieves a FPS of 56.

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Event-triggered attitude tracking for rigid spacecraft

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Science China(Information Sciences) 2019年第12期62卷 178-193页

作者： Deheng CAI Hengguang ZOU Junzheng WANG Yuan HUANG Dawei SHI State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology China Academy of Space Technology

This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.

关键词： spacecraft attitude tracking active disturbance rejection control event-triggered control extended state observer

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Fast ADMM algorithm with efficient communication for distributed optimization of multi-agent systems

Fast ADMM algorithm with efficient communication for distrib...

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Chinese automation Congress (CAC)

作者： Shuang Cao Xiaowei Jiang Ming Chi Xianhe Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Geodetection Technology Ministry of Education Wuhan China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (纸本)9781665426480

This paper proposes a distributed optimization algorithm based on alternating direction method of multipliers (ADMM) for the distributed optimization problem of multi-agent systems, called ADMM with adaptive penalty terms and conditional communication (for short, AAPCC), by using the local information of agents to update the adaptive penalty terms to speed up the convergence speed while by restricting the communication conditions of agents to reduce the communication cost of agents in the iterative process. Thus, the communication cost of the system is reduced while the convergence speed is ensured. Numerical simulation experiments show that in a multi-agent system, compared with the classical ADMM, AAPCC can better balance the convergence speed and communication cost, suitable for multi-agent systems that require fast convergence speed and less communication cost.

关键词： Costs automation Numerical simulation Convex functions Stability analysis Iterative algorithms Optimization

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Fixed-Time Synchronization of Fifth-Order Memristor Chaotic systems

Fixed-Time Synchronization of Fifth-Order Memristor Chaotic ...

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Chinese automation Congress (CAC)

作者： Shan Jiang Leimin Wang Geliang Wan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Based on the classical Chua's circuit, a chaotic circuit is constructed including double magnetron memristors. To study the fixed-time synchronization problem about the fifth-order memristor chaotic systems, a sliding-mode surface is proposed firstly. Then, a suitable controller is devised by using the sliding-mode control method. The sliding-mode surface is reached, then the stability on the surface also can be achieved within a fixed time thereafter. Moreover, the settling time for system synchronization is estimated, and numerical simulations confirm the correctness of the theory.

关键词： Synchronization Chaotic communication Memristors automation Sliding mode control Magnetic circuits Convergence

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EID-based Robust Stabilization for a Class of Nonlinear Uncertain systems with Disturbances 38

EID-based Robust Stabilization for a Class of Nonlinear Unce...

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第三十八届中国控制会议

作者： Shengnan Tian Min Wu Luefeng Chen Jinhua She Manli Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781728123295;9789881563972

This paper concerns robust stabilization for a class of nonlinear systems with uncertainties and disturbaces. The equivalent-input-disturbance(EID) approach is utilized to estimate the influence of nonlinearities and exogenous disturbances on the output of the system. A robust stability condition is derived in terms of linear matrix inequalities. Moreover, two parameters are used to tune the robustness of the system. Simulation results show that it is more effective to stabilize the system using the developed method than using the sliding-mode control(SMC) method.

关键词： Robust stabilization equivalent-input-disturbance nonlinear uncertain system disturbance linear matrix inequality(LMI)

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Application of digital lock-in amplifier in complex electromagnetic interference of substation

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Progress In Electromagnetics Research C 2020年 106卷 105-120页

作者： Song, Jiabing Song, Hengli Yang, Xuan Dong, Haobin School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

There is complex electromagnetic interference in the substation. In order to improve detection accuracy, a digital lock-in amplifier is used in the detection of the grounding grid. This paper introduces the principle of non-destructive testing of grounding grid based on electromagnetic method. Firstly, the distribution characteristics of surface magnetic induction intensity at different frequencies are obtained by CDEGS simulation. At the same time, it describes the principle and structure of an orthogonal vector type digital lock-in amplifier in detail. In order to realize the high-precision grounding grid detection system, the hardware circuit of the digital lock-in amplifier is designed by FPGA and analog-to-digital converter. The digital lock-in amplifier algorithm is implemented in the FPGA. Finally, the digital lock-in amplifier is tested. The test results show that when the signal-to-noise ratio of the signal to be tested is −20 dB, the signal amplitude measurement error is less than 3%. The designed digital lock-in amplifier is applied to the actual grounding grid detection, and the topology and corrosion of the grounding network can be detected. Therefore, the digital lock-in amplifier can be effectively applied to non-destructive testing of grounding grid. © 2020, Electromagnetics Academy. All rights reserved.

关键词： Signal interference

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A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces

A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipula...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Mingrui Luo Yunong Tian En Li Minghao Chen Cunfeng Kang Guodong Yang Min Tan School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology Chinese Academy of Sciences Beijing China Beijing-University of Technology Beijing China

Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it considers both compactness and operability. By imitating the structure and behavior of a constricting snake, it can be uncoiled sequentially from a coiled storage state, led by the head. In terms of control methods, we propose a multi-layer control system that can make remote operations more accurate and reliable. On the one hand, guiding, segmenting, and following the path overcome the planning ambiguity caused by redundancy. On the other hand, conduit transmission modeling and cable length correction overcome the nonlinear mapping of cable-driven joints and were verified in experiments. Through tests, the mobile integrated system composed of C-CDHRM has an excellent performance in operation precision and accuracy, ensuring safety and accessibility in narrow spaces. Finally, in field experiments, the inspection and cleaning of various types of electrical equipment have been successfully completed, showing excellent application prospects.

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Learning Greenhouse Climate control Policy from Monitored Data

Learning Greenhouse Climate Control Policy from Monitored Da...

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2022 Chinese automation Congress, CAC 2022

作者： Zhao, Xiaoxuan Wang, Haoyu Wang, Xiujuan Lewlomphaisarl, Udom Li, Dong Hua, Jing Kang, Mengzhen The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Institute of Automation Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technologies Beijing China National Electronics and Computer Technology Center Pathum Thani Thailand Institute of Digital Agriculture Zhejiang Academy of Agricultural Sciences Hangzhou China Qingdao AgriTech Co. Ltd. Qingdao China

ISBN: (纸本)9781665465335

The knowledge of solar greenhouse growers on environment control plays an important role in greenhouse production and management. We proposed a way to extract the control strategies from the monitored data of greenhouses by building a long short-term memory (LSTM) model. The result is verified according to the real monitored data of a solar greenhouse, which shows that the model can learn the control strategy of a ventilator in the solar greenhouse. Through monitored data and models, the knowledge of greenhouse ventilation control can be learned, and automatic control can be achieved in a greenhouse with a similar configuration. © 2022 IEEE.

关键词： Greenhouses

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Energy Efficiency Optimization for Full-Duplex D2D Communications Underlaying Distributed Antenna systems

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2024年

作者： Liu, Zhan Liao, Zhiyuan Li, Chunquan Zhang, Zhijun Yu, Junzhi Liu, P.X. Hunan University of Humanities Science and Technology School of Information Loudi417000 China Nanchang University School of Information Engineering Nanchang330031 China Jiangxi Provincial Key Laboratory of Intelligent Systems and Human-Machine Interaction Nanchang330031 China South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

In this paper, we investigate the total system energy efficiency (EE) of full-duplex (FD) device-to-device (D2D) communications underlaying distributed antenna systems (DAS), where remote access units (RAUs), D2D users (DUs), and cellular users (CUs) are all capable of FD operation. Specifically, we jointly optimize subcarrier assignment and power allocation under the quality of service (QoS) requirements of CUs and DUs and the maximum power constraints of RAUs, CUs, and DUs. In addition, we propose a novel spectrum sharing strategy that allows each subcarrier to be assigned to multiple CUs and/or multiple D2D pairs (DPs) for flexibility. To solve the formulated non-convex optimization problem, we first employ fractional programming to transform the objective function in the optimization problem from the fractional form into the equivalent subtractive form. Then, an efficient iterative resource allocation algorithm is proposed, which needs to solve an inner problem in each iteration. After relaxing the variables and introducing penalty factors, the non-convex inner problem is transformed into a convex problem through the successive convex approximation (SCA) method and solved by iterative algorithm. Simulation results demonstrate that the proposed algorithm can considerably improve the system EE compared to other benchmark schemes. Furthermore, the proposed spectrum sharing strategy is superior to the existing sharing strategies. © 2017 IEEE.

关键词： Convex optimization

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