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Chinese Automation Congress (CAC)

作者： Zhijie Ai Ye Lin Zhezhuang Xu Yuhang Zhu Lianxu Wu Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province School of Electrical Engineering and Automation Fuzhou University Fuzhou China

Wood broken defects, such as cracks, penetrating dead knots and wanes, will seriously weaken the strength of the wood and destroy the structral integrity of the wood. Therefore, these defects should be inspected and then cut during the production. Although vision-based detection methods have been proposed to detect wood defect regions, they can not detect the defects that change in depth. To solve this problem, this paper focuses on the defect detection by measuring depth difference through 3D laser data. First, the 3D laser data is preprocessed to remove the noise. Secondly, we construct a support profile by multiple mean filtering at the line-level. Next, the residual components are obtained by subtracting the support profile from the profile data and the defect is determined by comparing the residual components and the setting threshold. Finally, we perform merging and filtering operation to determine the final position of defects. The experimental results verify the effectiveness of the proposed method.

关键词： Three-dimensional displays Automation Filtering Laser noise Merging Lasers Production

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Offline Reinforcement Learning via Sequence Modeling for Vision-Based Robotic Grasping

Offline Reinforcement Learning via Sequence Modeling for Vis...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Sheng Zeng Xiao Sun Kang Chen Weibing Huang Yi Chen Dan Chen Zhezhuang Xu Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Evomotion Co. Ltd. Shenzhen Guangdong China

High cost of environmental interaction and low data efficiency limit the development of reinforcement learning in robotic grasping. This paper proposes an end-to-end robotic grasping method based on offline reinforcement learning via sequence modeling. It considers the most recent n-step history to assist the agent in making decisions, where a predictive model learns to directly predict actions from raw image inputs. The experimental results show that our method can achieve higher grasping success rate with less training data than traditional reinforcement learning algorithms in offline setting.

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Modeling and Heuristic Solutions for Storage Scheduling of Steel Plates in Steel Logistics Park

Modeling and Heuristic Solutions for Storage Scheduling of S...

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Chinese Automation Congress (CAC)

作者： Hao Yang Jinlong Wang Zhezhuang Xu Boyu Chen Qingdong Zhang Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Sansteel Minguang Co. Ltd. Sanming China

Steel plates are highly customized according to different customer demands. In this case, the outbound date, the specifications of the steel plates and the distribution of stacks must be simultaneously considered when the steel plates are stored in the yard. Improper storage of steel plates significantly increases the number of shuffles during outbound operations. To overcome the challenge, we propose an efficient steel plate storage scheme based on the actual scenario of existing steel plate distribution in the yard. Firstly, a model for steel plate storage scheduling is established to minimize the number of extra blocking plates. Then, three heuristic algorithms are designed to solve the problem. Comparative experiments are carried out to verify the effectiveness of the proposed algorithm. The experimental results show that the proposed method can sufficiently improve the efficiency of steel plates scheduling.

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Predicting the State of Crane Spreader for Steel Bar Delivery Based on Machine Learning

Predicting the State of Crane Spreader for Steel Bar Deliver...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Zibin Liu Zhezhuang Xu Jian Chen Chen Cui Boyu Chen Qingdong Zhang Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Education College of Electrical Engineering and Automation Fuzhou University Fuzhou China Sansteel Minguang Co. Ltd Sanming Fujian China

Deducing the twisting pattern of spreader is very important for crane operators in steel warehouse, since crane spreaders have to be rotated repeatedly at steel bar transport sites. To improve the efficiency of the steel bar delivery, the state prediction for crane spreaders is necessary. In order to fulfill this requirement, the HTSK-LN-ReLU model prediction method based on Optuna optimization is applied in this paper. We deploy the IMU on the spreader surface, and then obtain the state data during the operation of the crane spreader by wireless transmission. The data are first denoised through fourier filtering, and then the Optuna framework is used to optimize the HTSK-LN-ReLU model's hyperparameters. The evaluation index of mean square error is used for model evaluation, and finally the optimal hyperparameter combination of the model is selected from 200 comparison experiments. Experimental results demonstrate superior performance of the HTSK-LN-ReLU model in predicting the state of crane spreader for steel bar delivery.

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Secrecy Outage Probability Analysis for Downlink RIS-NOMA Networks with On-Off control

arXiv

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arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Yi, Wenqiang Liu, Yuanwei Li, Xuehua Ding, Zhiguo Key Laboratory of Information and Communication Systems Ministry of Information Industry Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering Princeton University Princeton United States School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

Reconfigurable intelligent surface (RIS) has been regarded as a promising technology since it has ability to create the favorable channel conditions. This paper investigates the secure communications of RIS assisted non-orthogonal multiple access (NOMA) networks, where both external and internal eavesdropping scenarios are taken into consideration. More specifically, novel approximate and asymptotic expressions of secrecy outage probability (SOP) for the k-th legitimate user (LU) are derived by invoking imperfect successive interference cancellation (ipSIC) and perfect successive interference cancellation (pSIC). To characterize the secrecy performance of RIS-NOMA networks, the diversity order of the k-th LU with ipSIC/pSIC is obtained in the high signal-to-noise ratio region. The secrecy system throughput of RIS-NOMA networks is discussed in delay-limited transmission mode. Numerical results are presented to verify theoretical analysis that: i) The SOP of RIS-NOMA networks is superior to that of RIS assisted orthogonal multiple access (OMA) and conventional cooperative communication schemes;ii) As the number of reflecting elements increases, the RIS-NOMA networks are capable of achieving the enhanced secrecy performance;and iii) The RIS-NOMA networks have better secrecy system throughput than that of RIS-OMA networks and conventional cooperative communication schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooperative communication

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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Optimization for Pickup Vehicle Scheduling in Steel Logistics Park Based on Enhanced SPEA2

Optimization for Pickup Vehicle Scheduling in Steel Logistic...

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Chinese Automation Congress (CAC)

作者： Hongjie Xu Jinlong Wang Zhezhuang Xu Boyu Chen Qingdong Zhang Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Sansteel Minguang Co. Ltd. Sanming China

Pickup vehicle scheduling in the steel logistics park is a critical issue in determining the outbound effciency of steel products. Steel products are distributed in the yards of the steel logistics park with mixed storage, and the optional yards for each pickup operation are not unique, which greatly increases the scheduling complexity. To overcome this challenge, in this paper, we propose a pickup vehicle scheduling problem with mixed steel storage (PVSP-MSS) to optimize makespan of pickup vehicle and makespan of steel logistics park simultaneously. The optimization problem is described as a multi-objective problem, and an enhanced Strength Pareto Evolutionary Algorithm 2 (ESPEA) is proposed to solve the problem with high efficiency. Experiments are executed based on data collected from a real steel logistics park. The results confirm that ESPEA can significantly reduce both makespan of each pickup vehicle and makespan of steel logistics park.

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Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous Intelligent systems 2021年第1期1卷 81-90页

作者： Xiuxian Li Housheng Su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

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Model-Based Reinforcement Learning for Robotic Arm control with Limited Environment Interaction

Model-Based Reinforcement Learning for Robotic Arm Control w...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Yi Chen Xiao Sun Song Zheng Weibing Huang Sheng Zeng Dan Chen Zhezhuang Xu Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Evomotion Co. Ltd. Guangdong Shenzhen China

Reinforcement Learning (RL) has been applied to robotic arm control, which enables the agent to learn an effective policy to solve complex tasks. However, it requires constant interaction with the environment leading to low sample efficiency. In this paper, we propose a robotic arm control approach based on planning via lookahead search, which is a model-based RL algorithm to improve the sample efficiency. The approach builds an environment model in order to obtain the dynamics of the environment. Thus the model can be used to plan future actions by a tree-based search. The experiments show that our approach can solve the task of robotic arm control with less environmental samples.

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Fan-Beam Printed Full-Wave Dipole Antenna Array with Wide Bandwidth and Beamwidth

Fan-Beam Printed Full-Wave Dipole Antenna Array with Wide Ba...

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Antennas and Propagation & USNC/URSI National Radio Science Meeting

作者： Zhiqi Ke Kwok Wa Leung Nan Yang School of Electronics and Information Technology (School of Microelectronics) and Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen University Guangzhou China Department of Electrical Engineering State Key Laboratory of Terahertz and Millimeter Waves City University of Hong Kong Kowloon China Information and Communication Technology Centre CityU Shenzhen Research Institute Shenzhen China

ISBN: (数字)9798350369908

ISBN: (纸本)9798350369915

This paper presents a wideband, wide-beamwidth printed dipole antenna array. The electric field across the two horizontal arms of the printed dipole gives an equivalent magnetic dipole. This equivalent magnetic dipole and the printed dipole forms an magnetoelectric dipole, which has a wide bandwidth and a wide beamwidth. To further enhance the beamwidth, a full-wave printed dipole antenna instead of a halfwave printed dipole is used. Parasitic and shorting strips are deployed to obtain a uniform current distribution and thus, widen the beamwidth. To verify the idea, a 1×4 array is designed, fabricated, and measured. A 10-dB impedance bandwidth of 34% (20.85-29.35 GHz) and a peak 3-dB of $H$ -plane beamwidth of 192° at 25 GHz were measured.

关键词： Antenna measurements Impedance measurement Dipole antennas Magnetoelectric effects Bandwidth Gain measurement Current distribution

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