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A Dual-Optimization Fault Diagnosis Method For Rolling Bearing Based On Hierarchical Slope Entropy And SVM Synergized with Shark Optimization Algorithm

SSRN

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SSRN 2022年

作者： Li, Yuxing Tang, Bingzhao Huang, Bo Jiao, Shangbin Xue, Xiaohui School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China

Slope entropy (SlopEn) has been widely applied in fault diagnosis and has performed excellent performance, while SlopEn suffers from the problem of thresholds selection. Aim to further enhance the identifying capability of SlopEn in fault diagnosis, on basis of the SlopEn, the concept of hierarchy is combined and proposed new complexity feature, namely hierarchical slope entropy (HSlopEn). Meanwhile, the white shark optimizer (WSO) is applied to optimize the both HSlopEn and support vector machine (SVM), and WSO-HSlopEn and WSO-SVM are proposed respectively. Then, a dual-optimization fault diagnosis method for rolling bearing based on WSO-HSlopEn and WSO-SVM is put forward. Firstly, different types of bearing signals are input and decomposed into several nodes by hierarchical decomposition. Then taking the recognition rate as the fitness function, the parameters of HSlopEn and SVM are determined adaptively by WSO. After that, the WSO-HSlopEn of the nodes are extracted and single-feature and multi-features extraction are performed. Finally, the diagnosis results are output by WSO-SVM. Experimental results demonstrated that whether under single-feature or multi-features, based on WSO-HSlopEn and WSO-SVM fault diagnosis method has the highest recognition rate compared to other hierarchical entropies;moreover, under multi-features, the recognition rates are all higher than 97.5%, and the more features we select, the better the recognition effect will be. when five nodes are selected, the highest recognition rate reaches 100%. © 2022, The Authors. All rights reserved.

关键词： Support vector machines

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Capacity Optimization of a Hybrid Energy Storage system Considering Wind-Solar Reliability Evaluation Based on a Novel Multi-Strategy Snake Optimization Algorithm

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SSRN 2022年

作者： Wang, Chen Jiao, Shangbin Li, Yujun Zhang, Qing School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China

When the capacity configuration of a hybrid energy storage system (HESS) is optimized considering the reliability of a wind turbine and photovoltaic generator (PVG), the sequential Monte Carlo method is typically adopted to simulate the normal operation and fault probability of wind turbines and PVG units. The capacity optimization configuration model of the HESS is constructed with the life cost cycle (LCC) as an objective and the loss of power supply probability (LPSP) as constraints. The variational mode decomposition is used to decompose the unbalanced power in the wind-PV microgrid. The maximum power of the optimized the battery bank and the supercapacitor bank are used to determine the frequency division point, and the high-frequency power and low-frequency power are respectively allocated to the supercapacitor bank and the battery bank. When the snake optimizer (SO) is used to solve the nonconvex capacity optimization configuration model of the HESS, poor accuracy and stability are significant problems. The opposition-based learning, adaptive weight factor, and Lévy flight strategy are introduced in the algorithm framework. Twenty-three test functions show that multi strategy snake optimizer (MSO) significantly improves the accuracy and convergence speed compared with SO. Nine optimization algorithms including MSO are used to solve the capacity optimization problem of the HESS. The results show that MSO is superior to other algorithms in performance and numerical accuracy. It can reduce the LCC 4.5% and ensure that the capacity of the HESS meets the load demand when the wind turbine and PVGs are in a fault state. © 2022, The Authors. All rights reserved.

关键词： Variational mode decomposition

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Real-Time Solution of Unsteady Inverse Heat Conduction Problem Based on Improved Whale Optimization Algorithm and Parameter-Adaptive Pid

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SSRN 2022年

作者： Huang, Weichao Li, Jiahao Liu, Ding Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China

To the common unsteady inverse heat conduction problem in the industrial field, a real-time solution strategy of improving whale optimization algorithm (IWOA) and parameter-adaptive Proportional-integral-differential (PID) is proposed in the paper. This strategy improves the initial solution distribution, global search capability and population diversity generalization of traditional WOA, which effectively improves the parameters-adaptive capability of PID. In solving the unsteady inverse heat conduction problem, the IWOA-PID feedback control model is first established to adaptively obtain the optimal PID parameters at each time. Then, the deviation between the calculated temperature and the measured temperature of the measured point obtained by solving the direct heat conduction problem (DHCP) is used as the system input. Finally, the real-time heat flux at the boundary of the heat conduction system is solved iteratively. The experimental results shown that the inverse algorithm proposed in the paper can accurately retrieve the variation of the boundary heat flux in real-time, and has good resistance and self-adaptability. © 2022, The Authors. All rights reserved.

关键词： Heat flux

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A Scale Adaptive and Anti-occlusion Tracking Algorithm with Feature Fusion

A Scale Adaptive and Anti-occlusion Tracking Algorithm with ...

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第40届中国控制会议

作者： Le Li Haoyu Liao Yongqiang Bai School of Automation Beijing Institude of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institude of Technology

KCF is an excellent target tracking algorithm with fast computing speed and high ***,it performs poorly in complex tracking situations such as target deformation,motion blur,scale change and *** view of target deformation and motion blur,we designed a feature fusion method,which combines CN feature and HOG feature to enhance the expression ability of the *** view of the change of scale,the scale pool is *** improve the ability of anti occlusion,we improved the model updating mechanism and designed a SVM detector to detect the target after it is *** experiments on OTB-100 showed that the improved method achieves a great improvement compared with KCF,the accuracy increases by 4.2%,the success rate increases by 12.1%,and our algorithm meets the real-time requirements.

关键词： KCF target tracking feature fusion scale pool anti occlusion

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Long-term stable target tracking algorithm based on improved Staple

Long-term stable target tracking algorithm based on improved...

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第40届中国控制会议

作者： Haoyu Liao Le Li Yongqiang Bai School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Staple algorithm has been widely proven to be an efficient target tracking method, but it is still easy to fail in some tracking scenarios such as target deformation, motion blur, and complete occlusion. This paper makes improvements to the above problems. First of all, we use a binary mask based on spatial reliability to enhance the target information in Staple’s color features, which improves the tracking accuracy of the algorithm in complex scenes. Secondly, we propose a response graph evaluation index based on secondary detection, that is, the least square filter is used for convolution at the original response peak to obtain a more accurate tracking state judgment. Finally, if the current state is judged to be a failure, we use a particle filter-based motion estimation method to relocate the target, thereby improving the algorithm’s tracking success rate when the target is occluded. The test results on the OTB2015 data set show that the overall accuracy of the algorithm in this paper has reached 80%, and the overall success rate has reached 73.2%, which proves the long-term stable tracking performance of the algorithm.

关键词： Target tracking Staple Binary mask Particle filter Anti-occlusion

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Locating,Mapping and Motion Planning of Smart Wheelchair

Locating,Mapping and Motion Planning of Smart Wheelchair

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第40届中国控制会议

作者： Mengyang Yao Yi Liu Chi Xu School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

Smart wheelchair plays an important role in rehabilitation training and daily movement of people with high mobility *** ensure that the smart wheelchair can operate stably in an unfamiliar environment,it is necessary to solve the problems of locating,mapping and motion *** the complex indoor environment of rehabilitation training and the wheelchair model,we propose a new smart wheelchair system *** on Simultaneous Localization and Mapping（SLAM） technology,location and mapping can be obtained through the Rao-Blackwellized Particle Filters（RBPF） *** integrate the sensor data into the proposal distribution to solve the particle degradation problem of RBPF and use selective resampling to improve the algorithm *** to the wheelchair’s own location and the surrounding environment map,global path planning and local real-time path planning are used to complete the motion *** show that the smart wheelchair system we proposed can operate robustly and quickly in a complex indoor environment.

关键词： Smart wheelchair Rehabilitation training SLAM Motion planning

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High-Precision Admittance control of Mechanical Arm Based on Force Sensor Compensation

High-Precision Admittance Control of Mechanical Arm Based on...

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Chinese control and Decision Conference, CCDC

作者： Yaohui Wu Jiangbo Zhao Junzheng Wang Xin Zhang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China Technical Center Xinxing Cathay International Group Co. Ltd. Beijing China

ISBN: (纸本)9781665478977

Admittance control is one of the important methods of compliance control. It is performed by inputting force signals and outputting position signals. Position control can achieve high accuracy, but the force signals have large errors, which is an important factor affecting its accuracy. When the force sensor collects force data, there are non-negligible initial deviations due to gravity, installation, and other factors, resulting in poor admittance control accuracy. In order to solve this problem, this paper takes the six-degree-of-freedom manipulator admittance control as the research object. According to the mapping relationship between the end attitude and the sensor errors, we propose a method of obtaining the initial offset value of the sensor through data interpolation. This method traverses the initial values of the sensor in each working posture when the sensor has no external force input, and then performs secondary interpolation to obtain the offset values of the sensor in any posture, corrects the output values of the force/torque sensor, and then improve the accuracy of admittance control. The experimental results show that this method can quickly and effectively improve the calculation accuracy of the sensor’s initial deviation values and the admittance control accuracy.

关键词： Interpolation Attitude control Force Dynamics Position control Robot sensing systems Real-time systems

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Forward Modeling of Shallow Transient Electromagnetic Method under Ramp Turn-off Current

Forward Modeling of Shallow Transient Electromagnetic Method...

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第三十九届中国控制会议

作者： Guangjun Wang Menglan Song School of Automation China University of Geosciences China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex System

In order to reduce the shallow detection blind zone and improve the shallow detection accuracy, this paper presents a shallow transient electromagnetic direct forward modeling method based on ramp turn-off current. The main idea is to obtain the spectrum of the ramp turn-off current signal by Fourier transform at first, then using Maxwell’s equation to solve the propagation process of the electromagnetic signal in the medium, thus obtaining the early signal of transient electromagnetic *** theory, this method is more suitable for the detection of shallow subsurface media than the ideal step signal. Simulation experiments on the ramp step signals with different turn-off times show that the complete ideal coincidence with the traditional ideal step signal when the turn-off time approaches zero, indicating the correctness of the algorithm. At the same time, compared with the current element superposition forward method, the forward curve obtained by this method is closer to the actual situation,and the calculation speed is much faster than the current element superposition method. The research results in this paper are of great value to reduce the detection blind zone, improve the detection accuracy and real-time performance of the transient electromagnetic detecting.

关键词： Ramp turn-off current shallow transient electromagnetic method forward modeling

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Fault Localization and State Estimation of Power Grid under Parallel Cyber-Physical Attacks

arXiv

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arXiv 2025年

作者： Ren, Junhao Zhao, Kai Zhang, Guangxiao Liu, Xinghua Zhai, Chao Xiao, Gaoxi School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Catastrophe Risk Management Nanyang Technological University Singapore639798 Singapore Future Resilient Systems Singapore-ETH Centre Singapore138602 Singapore School of Electrical Engineering Xi’an University of Technology Xi’an710048 China Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Parallel cyber-physical attacks (PCPA) refer to those attacks on power grids by disturbing/cutting off physical transmission lines and meanwhile blocking transmission of measurement data to dwarf or delay the system protection and recovery actions. Such fierce hostile attacks impose critical threats to the modern power grids when there is a fusion of power grids and telecommunication technologies. In this paper, we investigate the fault diagnosis problem of faulty transmission lines under a broader spectrum of PCPA for a linearized (or DC) power flow model. The physical attack mechanism of PCPA includes not only disconnection but also admittance value modification on transmission lines, for example, by invading distributed flexible AC transmission system (D-FACTS). To tackle the problem, we first recover the information of voltage phase angles within the attacked area. Using the information of voltage phase angle and power injection of buses, a graph attention network-based fault localization (GAT-FL) algorithm is proposed to find the locations of the physical attacks. By capitalizing on the feature extraction capability of the GAT on graph data, the fault localization algorithm outperforms the existing results when under cyber attacks, e.g., denial of service (DoS) attacks. A line state identification algorithm is then developed to identify the states of the transmission lines within the attacked area. Specifically, the algorithm restores the power injection of buses within the attacked area and then identities the state of all the transmission lines within the attacked area by solving a linear programming (LP) problem. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Cyber attacks

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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